Method and device for video-based observation and measurement of the lateral environment of a vehicle
First Claim
1. A method for observing and measuring the lateral environment of a vehicle, mainly for detecting parking spaces, wherein a sequence of digital images are recorded by means of a camera, provided with a time stamp and buffered, wherein the vehicle'"'"'s own movement is sensed in order to select chronologically overlapping stereoscopic image pairs from the buffered images on the basis of this data, wherein the position and orientation of the camera which are present at the two recording times are determined, wherein a local 3D depth image is generated on the basis of the image pairing by means of an algorithm for stereoscopic image processing, and wherein the position and orientation of the camera at the recording times are taken into account within the scope of a synthetic stereoscopic geometry.
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Abstract
The first commercially-available driver assist systems required a compromise between the resolution of the scanning and the extent of the scanned region, according to application. Conventional video-based systems have a good compromise between resolution and recording range, however do not generally provide direct distance information. According to the new arrangement of the object of the invention, it is possible to achieve a system, which, on installation in a road vehicle, can record complex dynamic scenes, for example the lateral 3D geometry to the road edge from the point of view of the dynamically operating vehicle and use the same to advantage on parking. According to the invention, the monitoring and measuring of the lateral environment of a vehicle is displayed on the one hand by means of a camera with the digital images and on the other hand with a computer unit which serves to provide the images with a time stamp and to buffer the same. The movements of the vehicle are further recorded, in order to select image pairs from the buffered images, based on the above data. A local 3D depth image of the lateral environment of a vehicle can thus be generated by an algorithm for stereo image processing.
21 Citations
20 Claims
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1. A method for observing and measuring the lateral environment of a vehicle, mainly for detecting parking spaces,
wherein a sequence of digital images are recorded by means of a camera, provided with a time stamp and buffered, wherein the vehicle'"'"'s own movement is sensed in order to select chronologically overlapping stereoscopic image pairs from the buffered images on the basis of this data, wherein the position and orientation of the camera which are present at the two recording times are determined, wherein a local 3D depth image is generated on the basis of the image pairing by means of an algorithm for stereoscopic image processing, and wherein the position and orientation of the camera at the recording times are taken into account within the scope of a synthetic stereoscopic geometry.
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15. A device for 3D observation and measurement of the lateral environment of a vehicle, mainly for detecting parking spaces, comprising a camera for recording a sequence of digital images which is connected to a data processing unit by means of which the images are provided with a time stamp and buffered,
wherein a unit for sensing the vehicle'"'"'s own movement is provided, and wherein a means for selecting image data on the basis of the vehicle'"'"'s own movement in order to form chronologically overlapping stereoscopic image pairs is provided, and which is connected to a unit for stereoscopic image processing.
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20. (canceled)
Specification