Correction method for data of a plurality of optoelectronic sensors
First Claim
1. A method for provisioning data from a monitored zone, which lies in respective fields of view of at least two, a first and a second, optoelectronic sensors, comprising:
- capturing sets of raw data elements using the at least two sensors, wherein the raw data elements of the sets include coordinates of object detected by the respective detecting sensor and for each set of the coordinates associating a corresponding position of the respective detecting sensor;
forming a group of the sets of raw data elements from the sets of raw data elements captured by a different sensor of the at least two sensors, where the sets of raw data elements in the group have a specific time association relative to one another;
performing object tracking for each set of the raw data elements in the group before transforming the coordinates contained therein; and
for each set of the group, transforming the coordinates contained in the sets of raw data elements into a common coordinate system, while taking account of the relative position of the detecting sensors;
wherein the steps of forming, performing and transforming are implemented by one or more processors.
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Abstract
The invention relates to a method for providing corrected data in order to generate a model of a monitoring area which is located in the respective visual range of at least two opto-electronic sensors for determining the position of detected objects, based on the amounts of raw data elements corresponding to object points in said monitoring area, said amounts of raw data elements being respectively detected by one of the sensors when the visual range is sensed and associated therewith, and the amounts of raw data elements from various sensors which are temporally linked to each other forming a group. The raw data elements corresponding to said amounts respectively comprise at least the coordinates of object points detected by the associated sensor in relation to the position of the detecting sensor. In order to form corrected amounts of corrected data elements corresponding to the amounts of raw data elements of a group for each group quantity, the coordinates contained in the raw data elements are transformed into a common coordinate system, taking into account the relative position of the respective sensors.
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Citations
20 Claims
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1. A method for provisioning data from a monitored zone, which lies in respective fields of view of at least two, a first and a second, optoelectronic sensors, comprising:
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capturing sets of raw data elements using the at least two sensors, wherein the raw data elements of the sets include coordinates of object detected by the respective detecting sensor and for each set of the coordinates associating a corresponding position of the respective detecting sensor; forming a group of the sets of raw data elements from the sets of raw data elements captured by a different sensor of the at least two sensors, where the sets of raw data elements in the group have a specific time association relative to one another; performing object tracking for each set of the raw data elements in the group before transforming the coordinates contained therein; and for each set of the group, transforming the coordinates contained in the sets of raw data elements into a common coordinate system, while taking account of the relative position of the detecting sensors; wherein the steps of forming, performing and transforming are implemented by one or more processors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 18, 19, 20)
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16. A computer program embodied as computer executable instructions on a computer readable medium, the computer program implementing a method for the provision of corrected data of a monitored zone (26), which lies in respective fields of view (22, 24) of at least two, a first and a second, optoelectronic sensors (10, 12), the computer executable instructions performing the steps of:
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capturing sets of raw data elements using the at least two sensors, wherein the raw data elements of the sets include coordinates of object detected by the respective detecting sensor and for each set of the coordinates associating a corresponding position of the respective detecting sensor; forming a group of sets of raw data elements from sets of raw data elements captured by a different sensor of the at least two sensors, where the sets of raw data elements in the group have a specific time association relative to one another; performing object tracking for each set of the raw data elements in the group before transforming the coordinates contained therein; and for each set of the group, transforming the coordinates contained in the sets of raw data elements into a common coordinate system, while taking account of the relative position of the detecting sensors.
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17. A computer program product with program code means which are stored on a computer readable medium to carry out a method for the provision of corrected data of a monitored zone (26), which lies in respective fields of view (22, 24) of at least two, a first and a second, optoelectronic sensors (10, 12), the program code means comprising:
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means for capturing sets of raw data elements using the at least two sensors, wherein the raw data elements of the sets include coordinates of object detected by the respective detecting sensor and for each set of the coordinates associating a corresponding position of the respective detecting sensor; means for forming a group of sets of the raw data elements from the sets of raw data elements captured by different sensors of the at least two sensors, where the sets of raw data elements in the group have a specific time association relative to one another; means for performing object tracking for each set of the raw data elements in the group before transforming the coordinates contained therein; and means for transforming the coordinates contained in the sets of raw data elements into a common coordinate system for each set of the group, while taking account of the relative position of the detecting sensors.
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Specification