Method for calibrating an assembly using at least one omnidirectional camera and an optical display unit
First Claim
1. A method for calibrating an assembly having at least one omnidirectional camera (2) that is arranged on an object (1) and an optical display unit, in which an image that is displayed by the display unit reproduces a perspective of a virtual camera above the object (1), wherein an image from the virtual camera is projected into an object coordinate system and wherein the resulting coordinates (XW, XW.Y) are projected into the omnidirectional camera, the method comprising, during the projection of the image of the virtual camera into the object coordinate system:
- projecting onto a virtual plane pixels (xp) of the image of the virtual camera within a virtual circle or ellipse around the object (1),while transforming pixels (xp) of the image outside the circle or ellipse by the virtual camera into the object coordinate system in such a way that they are projected onto a virtual surface that rises from the edge of the circle or ellipse,wherein a height of the coordinates (XW, XW.Y) on the surface in the object coordinate system is proportional to a distance of the coordinate (XW) to a center of the circle or the ellipse, andwherein a drive movement is predicted and is superposed over the image in the display unit entirely within the virtual circle or ellipse and not superposed over the virtual surface that rises from the edge of the circle or ellipse.
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Abstract
A method for calibrating an assembly consisting of an omnidirectional camera (2) located on a vehicle (1) and an optical display unit. An image displayed by the display unit reproduces a perspective of an imaginary virtual camera above the object (1), an image from the virtual camera is projected into an object coordinate system and resulting coordinates (XW, XW.Y) are projected into the omnidirectional camera. During the projection of the image of the virtual camera into the object coordinate system, pixels (xp) of the image of the virtual camera within an imaginary circle or ellipse (1) around the object are projected onto an imaginary plane, while pixels (xp) of the image outside the circle or ellipse are transformed by the virtual camera into the object coordinate system in such a way that they are projected onto an imaginary surface that rises from the edge of the circle or ellipse.
16 Citations
11 Claims
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1. A method for calibrating an assembly having at least one omnidirectional camera (2) that is arranged on an object (1) and an optical display unit, in which an image that is displayed by the display unit reproduces a perspective of a virtual camera above the object (1), wherein an image from the virtual camera is projected into an object coordinate system and wherein the resulting coordinates (XW, XW.Y) are projected into the omnidirectional camera, the method comprising, during the projection of the image of the virtual camera into the object coordinate system:
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projecting onto a virtual plane pixels (xp) of the image of the virtual camera within a virtual circle or ellipse around the object (1), while transforming pixels (xp) of the image outside the circle or ellipse by the virtual camera into the object coordinate system in such a way that they are projected onto a virtual surface that rises from the edge of the circle or ellipse, wherein a height of the coordinates (XW, XW.Y) on the surface in the object coordinate system is proportional to a distance of the coordinate (XW) to a center of the circle or the ellipse, and wherein a drive movement is predicted and is superposed over the image in the display unit entirely within the virtual circle or ellipse and not superposed over the virtual surface that rises from the edge of the circle or ellipse. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for calibrating an assembly having at least one omnidirectional camera (2) that is arranged on a vehicle and an optical display unit, in which an image that is displayed by the display unit reproduces a perspective of a virtual camera above the vehicle, wherein an image from the virtual camera is projected into an object coordinate system and wherein the resulting coordinates (XW, XW.Y) are projected into the omnidirectional camera, the method comprising, during the projection of the image of the virtual camera into the object coordinate system:
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projecting onto a virtual plane pixels (xp) of the image of the virtual camera within a virtual circle or ellipse around the vehicle, while transforming pixels (xp) of the image outside the circle or ellipse by the virtual camera into the object coordinate system in such a way that they are projected onto a virtual surface that rises from the edge of the circle or ellipse, wherein a height of the coordinates (XW, XW.Y) on the surface in the object coordinate system outside the virtual circle or ellipse is proportional to a distance of the coordinate (XW) to a center of the circle or the ellipse, and wherein the radius of the virtual circle around the vehicle, or the distance from the center to the furthest point on the ellipse, is at least approximately the length of the vehicle wherein a drive movement is predicted and is superposed over the image in the display unit entirely within the virtual circle or ellipse and not superposed over the virtual surface that rises from the edge of the circle or ellipse.
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Specification