Detection and categorisation of points of light with a camera in a motor vehicle environment
First Claim
1. A method for detecting and categorizing points of light for a subject motor vehicle with a camera sensor directed toward the motor vehicle environment around the subject motor vehicle, which provides at least one first category for stationary, illuminated reflectors used to mark an edge of a roadway, and at least one second category for self-radiating, moving, motor vehicle lights of other motor vehicles, comprising the steps:
- recording an image sequence of the motor vehicle environment;
tracking at least one point of light in the image sequence;
determining a varying intensity of the point of light in at least two images of the image sequence, and analyzing a time progression of the intensity as an intensity fluctuation, andcategorizing a point of light with a comparatively high intensity fluctuation as a motor vehicle light, and categorizing a point of light with a comparatively low intensity fluctuation as a reflector.
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Abstract
A method for detecting and categorizing points of light for a motor vehicle with a camera sensor directed towards the motor vehicle environment is presented. Here, at least one first category for passive, illumined reflectors and at least one second category for self-radiating, moving lights, in particular motor vehicle lights, is provided. For this purpose, the time progression of the intensity of a point of light is analysed. On the basis of the intensity fluctuation, points of light are categorized as motor vehicle lights or as reflectors.
18 Citations
22 Claims
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1. A method for detecting and categorizing points of light for a subject motor vehicle with a camera sensor directed toward the motor vehicle environment around the subject motor vehicle, which provides at least one first category for stationary, illuminated reflectors used to mark an edge of a roadway, and at least one second category for self-radiating, moving, motor vehicle lights of other motor vehicles, comprising the steps:
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recording an image sequence of the motor vehicle environment; tracking at least one point of light in the image sequence; determining a varying intensity of the point of light in at least two images of the image sequence, and analyzing a time progression of the intensity as an intensity fluctuation, and categorizing a point of light with a comparatively high intensity fluctuation as a motor vehicle light, and categorizing a point of light with a comparatively low intensity fluctuation as a reflector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of controlling a motor vehicle system of a subject motor vehicle that is equipped with a camera sensor and an image processor, wherein said camera sensor is arranged to monitor an environment outside of said motor vehicle, said image processor is connected and adapted to evaluate image data provided by said camera sensor, and said method comprises:
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a) with said camera sensor, acquiring an image sequence of successive images of said environment; b) in said image processor, respectively detecting and tracking at least one respective point of light in said successive images in said image sequence; c) in said image processor, determining a respective luminous intensity of said respective point of light, and determining a respective intensity fluctuation of said respective point of light as a fluctuation of said respective luminous intensity among said successive images in said image sequence; d) in said image processor, evaluating said respective intensity fluctuation as to whether said respective intensity fluctuation falls into a first category of comparatively high intensity fluctuations or a second category of comparatively low intensity fluctuations compared to said first category; e) in said image processor, in response to and dependent on at least a result of said evaluating, respectively identifying said respective point of light as a motor vehicle light of another motor vehicle in said environment if said respective intensity fluctuation was evaluated as falling into said first category of comparatively high intensity fluctuations, and respectively identifying said respective point of light as a stationary reflector in said environment if said respective intensity fluctuation was evaluated as falling into said second category of comparatively low intensity fluctuations; and f) in a controller of said subject motor vehicle, automatically controlling a motor vehicle system of said subject motor vehicle in response to and dependent on whether said respective point of light was identified as said motor vehicle light or as said stationary reflector. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification