Method and system for producing an image from a vehicle

• US 7,961,979 B2
• Filed: 09/21/2007
• Issued: 06/14/2011
• Est. Priority Date: 09/22/2006
• Status: Active Grant

• Current Assignee: CycloMedia Technology B.V.
• Original Assignee: CycloMedia Technology B.V.
• Inventors: Verwaal, Rudolf Gerrit, Van Den Heuvel, Franciscus Antonius, Beers, Bart Johannes
• Primary Examiner(s): TUCKER, WESLEY J
• Application Number:
  US11/859,538
• Publication Number:
  US 20080075391A1
• Time in Patent Office: 1,362 Days
• Field of Search: 382103-105, 382282-285
• US Class Current: 382/284
• CPC Class Codes: G03B 37/04 with cameras or projectors providing touching or overlapping fields of view
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

Method for producing an image from a vehicle, comprising the steps of: mounting a first camera on the vehicle, the first camera having a field of view; mounting a second camera on the vehicle and on a predetermined position relative to the first camera, the second camera having a field of view; acquiring a first image with the first camera; acquiring a second image with the second camera after the first image has been acquired when the position of the second camera is sufficiently close to or even coincides with the position from which the first image was taken, whereby the field of view of the second camera partially overlaps the field of view of the first camera when the first image was taken; and generating an image by stitching the first image and the second image together.

Claims

1. Method for producing an image from a vehicle (10), comprising the steps of:

mounting a first camera (11) on the vehicle (10), the first camera having a field of view (15);

mounting a second camera (12) on the vehicle (10) and on a predetermined position relative to the first camera (11), the second camera (12) having a field of view (16);

acquiring a first image with the first camera (11);

acquiring a second image with the second camera (12) after the first image has been acquired when a position of the second camera is proximate to or coincides with a position from which the first image was taken due to movement of the vehicle, whereby the field of view (16) of the second camera (12) partially overlaps the field of view (15) of the first camera (11) when the first image was taken; and

generating an image by stitching the first image and the second image together.

2. Method according to claim 1, wherein the first camera (11) comprises a first entrance pupil (13) and the second camera (12) comprises a second entrance pupil (14) and wherein the first entrance pupil (13) and the entrance pupil (14) are located on a line that is substantially parallel to a predominant direction of the movement of the vehicle (10).

3. Method according to claim 2, wherein the first camera (11) faces substantially in the predominant direction of movement of the vehicle (10) and the second camera (12) faces substantially in an opposite direction that the first camera faces.

4. Method according to claim 2, wherein the first camera (11) is positioned relatively forward of the second camera (12) with regard to the predominant direction of movement of the vehicle (10).

5. Method according to claim 1, wherein the first and second cameras (11,12) each have an angle of view, and a sum of the angles of view of the first and second cameras (11,12) exceeds 360°

.

6. Method according to claim 5, wherein the angle of view of at least one of the first and second cameras (11,12) is about 185°

.

7. Method according to claim 2, wherein the position of the second camera (12) is proximate to the position from which the first image was taken when the entrance pupil (14) of the second camera (12) is within a predetermined distance from the position where the entrance pupil (13) of the first camera (11) was when the first image was taken.

8. Method according to claim 1, wherein a distance traveled is determined by at least one odometer (48a,48b).

9. Method according to claim 1, wherein a distance traveled is measured by at least a position determining system (43) comprising a satellite navigation system, such as a Global Positioning System (GPS).

10. Method according to claim 1, wherein a distance traveled is determined by means of a combination of a position determining system (43) and at least one odometer (48a,48b).

11. Method according to claim 1, wherein a distance traveled is measured by means of at least an inertial navigation system (INS).

12. Method according to claim 1, wherein orientation determining means determines an orientation of the vehicle when an image is acquired and using the orientation of the vehicle during the stitching process.

13. Method according to claim 1, further comprising the steps of:

mounting at least one additional camera on the vehicle (10) on a predetermined position relative to the first camera (11), having a field of view; and

acquiring an additional image with the additional camera when the position of the additional camera is proximate to or coincides with the position from which the first image was taken, whereby the field of view of the additional camera partially overlaps the field of view (15) of the first camera (11), the field of view (16) of the second camera (12), and the field of view of any further camera that acquired an image after the first camera (11) acquired the first image when the first image, the second image, or the further image was taken.

14. Method according to claim 13, wherein when there are two additional cameras, each camera covers an angle of view of at least approximately 90°

.

15. Method according to claim 13, further including more than two additional cameras.

16. System for generating an image from a vehicle, comprising:

first imaging means to be mounted to the vehicle (10);

second imaging means mounted on the vehicle (10) on a predetermined position relative to the first imaging means;

distance traveled measurement means for measuring a distance traveled by the vehicle (10); and

control means (42) connected to the first and second imaging means to control the acquiring of a first image by the first imaging means and a second image by the second imaging means and connected to the distance traveled measurement means to initiate the acquisition of the second image after the vehicle (10) has traveled such that the position of the second imaging means is proximate to or coincides with the position of the first imaging means during the acquiring of the first image.

17. System according to claim 16, wherein the traveled distance measuring means comprise at least one odometer (48a,48b).

18. System according to claim 17, wherein the vehicle (10) comprises at least one non-driven wheel and the odometer (48a,48b) is connected to the non-driven wheel.

19. System according to claim 16, wherein the distance traveled measurement means comprises a position determining system (43) comprising a satellite navigation system.

20. System according to claim 16, wherein the traveled distance measuring means comprises a combination of a position determining system (43) and at least one odometer (48a,48b).