Method and system for testing a vehicle underbody of a motor vehicle

• US 9,846,031 B2
• Filed: 06/11/2013
• Issued: 12/19/2017
• Est. Priority Date: 07/06/2012
• Status: Active Grant

• Current Assignee: Beissbarth Automotive Testing Solutions GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Nobis, Guenter, Uffenkamp, Volker, Takami, Masato
• Primary Examiner(s): Li, Tracy Y
• Application Number:
  US14/412,289
• Publication Number:
  US 20150260511A1
• Time in Patent Office: 1,652 Days
• Field of Search: 348148
• CPC Class Codes: G01B 11/2755 using photoelectric detection means
• CPC Class Codes: G01B 2210/146 Two or more cameras imaging the same area
• CPC Class Codes: G06T 1/0007 Image acquisition
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30268 Vehicle interior
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

A method for testing a vehicle underbody of a motor vehicle includes: recording at least one image of at least one region of the vehicle underbody of the motor vehicle using a camera device; producing a three-dimensional depth image with the aid of the at least one recorded image of the at least one region of the vehicle underbody of the motor vehicle; and testing the at least one region of the vehicle underbody of the motor vehicle with the aid of the produced three-dimensional depth image of the vehicle underbody using optical image recognition.

Claims

1. A method for testing a vehicle underbody of a motor vehicle, comprising:

recording, by each camera of a camera system having at least one camera, a respective sequence of successive overlapping images of at least one area of the vehicle underbody of the motor vehicle, using a camera system, while the motor vehicle moves over the at least one camera;

producing, using a structure from motion method, a three-dimensional depth image using each respective sequence of successive overlapping images of the at least one area of the vehicle underbody of the motor vehicle; and

testing the at least one area of the vehicle underbody of the motor vehicle with the aid of the produced three-dimensional depth image of the vehicle underbody using optical image recognition.

2. The method as recited in claim 1, wherein the method is carried out in response to a motor vehicle rolling all the way over the camera system.

3. The method as recited in claim 2, wherein the method is carried out in areas in which the motor vehicle is traveling only at a speed of less than 15 km/h.

4. The method as recited in claim 2, wherein only a single camera is used as the camera system.

5. The method as recited in claim 2, wherein the camera system includes multiple cameras.

6. The method as recited in claim 2, wherein the camera system includes at least two cameras aligned in the opposite direction and having no mutual overlap in their field of view.

7. The method as recited in claim 2, wherein the method is implemented at least one of at the entrance to a gas station, at an entrance to a motor vehicle repair shop, at an entrance to a parking lot, and at an entrance to a motor vehicle dealer.

11. The method as recited in claim 1, wherein the method is performed without use of any laser line transmitter.

12. The method as recited in claim 1, further comprising:

ascertaining correspondences between images within each respective sequence of successive overlapping images; and

determining motion vectors of the correspondences as a function of time;

wherein the producing of the three-dimensional depth image includes using the motion vectors.

13. The method as recited in claim 1, wherein each respective sequence of successive overlapping images includes images that overlap by at least 50%.

14. The method as recited in claim 1, wherein the three-dimensional depth image is produced using the respective sequence of successive overlapping images from only one camera of the camera system.

15. The method as recited in claim 1, wherein the camera includes two cameras aligned in the opposite direction from one another, and wherein the producing of the three-dimensional image including a reconstruction according to the structure from motion method, the reconstruction being performed separately for each of the two cameras.

8. A system for testing a vehicle underbody of a motor vehicle, comprising:

a camera device including at least one camera, the camera device configured in a way that each at least one camera records a respective sequence of successive overlapping images of at least one area of the vehicle underbody of the motor vehicle; and

an evaluation device configured to produce a three-dimensional depth image, using a structure from motion method, and using each respective sequence of successive overlapping images of the at least one area of the vehicle underbody of the motor vehicle and to test the at least one area of the vehicle underbody of the motor vehicle with the aid of the produced three-dimensional depth image of the vehicle underbody using optical image recognition.

9. The system as recited in claim 8, further comprising:

a display device configured to display a test result of the testing of the vehicle underbody of the motor vehicle.

10. The system as recited in claim 8, further comprising:

an illumination device configured to illuminate the vehicle underbody of the motor vehicle.

16. The system as recited in claim 8, wherein the evaluation unit ascertains correspondences between images within each respective sequence of successive overlapping images, determines motion vectors of the correspondences as a function of time, and produces the three-dimensional depth image using the motion vectors.

17. The system as recited in claim 8, wherein each respective sequence of successive overlapping images includes images that overlap by at least 50%.

18. The system as recited in claim 8, wherein the evaluation device produces the three-dimensional depth image using the respective sequence of successive overlapping images from only one camera of the camera system.

19. The system as recited in claim 8, wherein the camera device includes two cameras aligned in the opposite direction from one another, and wherein the evaluation device produces of the three-dimensional image by reconstruction according to the structure from motion method, the reconstruction being performed separately for each of the two cameras.