Method for automatically calibrating a virtual camera system
First Claim
1. Method for producing a chronological sequence of images of a motor vehicle and of the adjacent environment from a virtual elevated central perspective (Pv) above the motor vehicle on a display device (5), whereina. a plurality of real recording camera devices (1, 2, 3, 4) are used to record a chronological sequence of subimage data records (DR1 . . . N) with coded subimages (7, 8, 9, 10) from a plurality of real perspectives (P1 . . . 4) which are differently offset and/or tilted with respect to the virtual perspective (Pv),b. differently parametrized transformations (T1 . . . 4) are applied to the image data (DRi,1 . . . 4) from each subimage data record (DRi) in an image data processing device (5) in order to obtain a sequence of transformed subimage data records (DT1 . . . N),c. the sequence of the transformed subimage data records (DT1 . . . N) is assembled to form a sequence of overall image data (DG1 . . . N) for an overall image (11) from the virtual perspective (Pv), andd. the overall image data (DGi) from the sequence of the overall image data (DG1 . . . N) are successively displayed on a display device (6),e. characterized in that a selection unit (6) is used to recurrently apply a selection criterion (C) in order to select from the sequence of subimage data records (DR1 . . . N) a subimage data record (DRk) for which the parameters of the transformations (T1 . . . 4) are redetermined by an optimization method using a quality criterion (Q) for the overall image.
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Abstract
A method for producing a time sequence of images of motor vehicle surroundings from a virtual elevated central perspective on a display wherein several cameras are used to record time sequences of subimage data records from a plurality of real perspectives differently offset and tilted with respect to the virtual perspective. Then, parameterized transformations are applied for obtaining sequences of transformed subimage data records and overall image data for an overall image from the virtual perspective is assembled. Finally, the sequence of the overall image data is displayed as an overall image. To compensate for positional and/or orientation deviations in the recording cameras a selection unit is proposed to recurrently apply a selection criterion for selecting a subimage data record from the sequence and to take this as a basis for redetermining the parameters of the transformations by an optimization method under a quality criterion for the overall image.
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Citations
11 Claims
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1. Method for producing a chronological sequence of images of a motor vehicle and of the adjacent environment from a virtual elevated central perspective (Pv) above the motor vehicle on a display device (5), wherein
a. a plurality of real recording camera devices (1, 2, 3, 4) are used to record a chronological sequence of subimage data records (DR1 . . . N) with coded subimages (7, 8, 9, 10) from a plurality of real perspectives (P1 . . . 4) which are differently offset and/or tilted with respect to the virtual perspective (Pv), b. differently parametrized transformations (T1 . . . 4) are applied to the image data (DRi,1 . . . 4) from each subimage data record (DRi) in an image data processing device (5) in order to obtain a sequence of transformed subimage data records (DT1 . . . N), c. the sequence of the transformed subimage data records (DT1 . . . N) is assembled to form a sequence of overall image data (DG1 . . . N) for an overall image (11) from the virtual perspective (Pv), and d. the overall image data (DGi) from the sequence of the overall image data (DG1 . . . N) are successively displayed on a display device (6), e. characterized in that a selection unit (6) is used to recurrently apply a selection criterion (C) in order to select from the sequence of subimage data records (DR1 . . . N) a subimage data record (DRk) for which the parameters of the transformations (T1 . . . 4) are redetermined by an optimization method using a quality criterion (Q) for the overall image.
Specification