Camera-based navigation system and method for its operation

• US 8,649,974 B2
• Filed: 05/09/2008
• Issued: 02/11/2014
• Est. Priority Date: 06/29/2007
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Faenger, Jens, Kynast, Andreas
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): MELTON, TODD M
• Application Number:
  US12/666,889
• Publication Number:
  US 20100235080A1
• Time in Patent Office: 2,104 Days
• Field of Search: 701/400, 701/523, 701/538, 382/106, 382/107, 382/108, 382/285, 382/286, 382/291, 382/293, 382/305
• US Class Current: 701/436
• CPC Class Codes: B60R 1/24 in front of the vehicle
• CPC Class Codes: B60R 2300/207 using multi-purpose displays, e.g. camera image and navigation or video on same display
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: G01C 21/3602 Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
• CPC Class Codes: G01C 21/3635 Guidance using 3D or perspective road maps
• CPC Class Codes: G01C 21/3638 including 3D objects and buildings three dimensional [3D] modelling, e.g. data description of 3D objects G06T17/00; geographic models G06T17/05
• CPC Class Codes: G01C 21/3647 Guidance involving output of stored or live camera images or video streams
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics

Abstract

A navigation system for motor vehicles includes at least one display device for a pictorial representation of the vehicle surroundings, at least one data memory containing data that allow for a three-dimensional reconstruction of the vehicle surroundings, at least one camera capable of recording digital images of the vehicle surroundings, and at least one data processing unit, which is capable of generating a reconstruction of the vehicle surroundings representable on the display device from the data contained in the data memory, and which is capable of performing an at least partial integration of the digital images recorded by the camera into the reconstruction of the vehicle surroundings, which reconstruction is based on the data contained in the data memory.

Claims

1. A navigation system for a motor vehicle, comprising:

at least one display device configured to pictorially represent vehicle surroundings;

at least one data memory adapted to store data that represent a three-dimensional reconstruction of the vehicle surroundings;

at least one camera configured to record digital images of the vehicle surroundings; and

at least one data processing unit configured to;

generate, from the data stored in the data memory, a reconstruction of the vehicle surroundings representable on the display device; and

perform an at least partial integration of the digital images recorded by the camera into the reconstruction of the vehicle surroundings to produce a modified version of the reconstruction;

wherein, if the at least partial integration of the digital images is determined to be unsuitable, a new texture is generated and integrated into a corresponding portion of the reconstruction without modification of other portions of the reconstruction.

2. The navigation system according to claim 1, wherein at least one camera is arranged as a component of another camera-based system belonging to the vehicle.

3. The navigation system according to claim 1, wherein the camera is arranged as a component of at least one of (a) a backup assistance system, (b) a parking assistance system, and (c) a system for night driving assistance.

4. The navigation system according to claim 1, further comprising a connection device to a central data memory, from which the data processing unit is able to retrieve data for a reconstruction of the vehicle surroundings and/or in which data processed by the data processing unit may be stored, the central data memory connectable to multiple terminal units of navigation systems.

5. The navigation system according to claim 1, wherein the at least partial integration includes replacing surface structures of the reconstruction of the vehicle surroundings with at least some of the digital images.

6. A method for improving the conformity between reconstructions of scenes from the surroundings of a vehicle generated virtually by a navigation system and displayed on a display device and a visual impression of a driver of the vehicle when viewing the real scenes, the method comprising:

recording digital images of the vehicle surroundings with the aid of a camera; and

at least partially integrating the digital images into a reconstruction of vehicle surroundings, which reconstruction is based on data that represent the reconstruction and that are stored in a data memory of the navigation system, wherein the at least partially integrating produces a modified version of the reconstruction;

wherein, if the at least partial integration of the digital images is determined to be unsuitable, a new texture is generated and integrated into a corresponding portion of the reconstruction without modification of other portions of the reconstruction.

7. The method according to claim 6, wherein at least some surface areas of the reconstructions of scenes from the surroundings of the vehicle displayed on the display device are superposed by adapted sections from digital images of the corresponding scenes.

8. The method according to claim 6, wherein in at least some surfaces of the reconstructions of scenes from the surroundings of the vehicle represented on the display device a comparison is performed between a texture represented in the reconstruction and the associated image section of the digital image and the texture is replaced by the generated new texture if too great of a deviation is ascertained.

9. The method according to claim 8, wherein a data processing unit checks whether a more suitable texture is stored in a data memory for replacing the texture and performs the replacement of the texture or by evaluating the surface having the texture to be replaced of the corresponding section of a digital image generates the generated new texture that better corresponds to the real view of the relevant surface than the texture to be replaced and replaces the latter with the generated new texture.

10. The method according to claim 6, wherein the modified version of the reconstruction is stored in the data memory.

11. The method according to claim 6, wherein the data for the reconstruction of the vehicle surroundings are retrieved from a central data memory and the processed data are stored in a central data memory, which is connectable to several terminal units of navigation systems, the processed data being stored in such a way that the data stored in the central data memory, following another retrieval are able to form the basis of a reconstruction of the vehicle surroundings.

12. The method according to claim 6, wherein the at least partially integrating includes replacing surface textures of the reconstruction of the vehicle surroundings with the digital images.