Method and device for determining a calibration parameter of a stereo camera
First Claim
1. A method for determining a calibration parameter for a stereo camera, in which a relative movement of the stereo camera with respect to a further object is analysed, said method comprising the steps of:
- with the aid of object images of an object recorded at least two times one after the other at an interval by the stereo camera, the distance between the stereo camera and the object is each time determined,with the aid of the determined distances an apparent speed between the stereo camera and the object is determined,an actual speed between the stereo camera and the object is determined, and wherein, dependent on a deviation of the apparent speed from the actual speed, at least one calibration parameter for the determination of further distances between at least one of the stereo camera and the object and the stereo camera and further objects is determined with the aid of object images recorded by the stereo camera, andwherein the relationship between distance and speed is taken into account in the determination of at least one of the apparent and the actual speed.
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Accused Products
Abstract
The invention relates to a method and device for determining object property of an object with the aid of images that have been recorded with the aid of a camera. Further, the invention relates to a method for determining a calibration parameter for a stereo camera. For determining the object property of an object, the object is defined in a first image recorded with the aid of the camera. Further, the brightness of a defined object is determined. Each time after a preset time interval, a further image is recorded with the aid of the camera. The object is defined in each of the further images and each time, the brightness of the defined object of each image is determined. Dependent on the brightness curve, an object property is assigned to the object.
8 Citations
22 Claims
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1. A method for determining a calibration parameter for a stereo camera, in which a relative movement of the stereo camera with respect to a further object is analysed, said method comprising the steps of:
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with the aid of object images of an object recorded at least two times one after the other at an interval by the stereo camera, the distance between the stereo camera and the object is each time determined, with the aid of the determined distances an apparent speed between the stereo camera and the object is determined, an actual speed between the stereo camera and the object is determined, and wherein, dependent on a deviation of the apparent speed from the actual speed, at least one calibration parameter for the determination of further distances between at least one of the stereo camera and the object and the stereo camera and further objects is determined with the aid of object images recorded by the stereo camera, and wherein the relationship between distance and speed is taken into account in the determination of at least one of the apparent and the actual speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A device for determining a calibration parameter for a stereo camera, in which a control unit analyses a relative movement between the stereo camera and a further object,
the stereo camera records object images of the object at least two times one after the other at a time interval, the control unit each time determines the distance between the stereo camera and the object with the aid of the recorded object images, the control unit determines an apparent speed between the stereo camera and the object with the aid of the determined distances, the control unit determines the actual speed between the stereo camera and the object, and the control unit determines, dependent on the deviation of the apparent speed from the actual speed, at least one calibration parameter for the determination of further distances between the stereo camera and the object and/or between the stereo camera and further objects with the aid of object images recorded by the stereo camera, wherein the relationship between distance and speed is taken into account in the determination of at least one of the apparent and the actual speed.
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20. A device for determining a calibration parameter for a stereo camera, in which a control unit analyses a relative movement between the stereo camera and a further object,
the stereo camera records object images of the object at least two times one after the other at a time interval, the control unit each time determines the distance between the stereo camera and the object with the aid of the recorded object images, the control unit determines an apparent speed between the stereo camera and the object with the aid of the determined distances, the control unit determines the actual speed between the stereo camera and the object, and the control unit determines, dependent on the deviation of the apparent speed from the actual speed, at least one calibration parameter for the determination of further distances between the stereo camera and the object and/or between the stereo camera and further objects with the aid of object images recorded by the stereo camera, and wherein the relationship between distance and speed is taken into account in the determination of at least one of the apparent and the actual speed.
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22. A device for determining a calibration parameter for a stereo camera, in which a control unit analyses a relative movement between the stereo camera and a further object,
the stereo camera records object images of the object at least two times one after the other at a time interval, the control unit each time determines the distance between the stereo camera and the object with the aid of the recorded object images, the control unit determines an apparent change in distance between the stereo camera and the object with the aid of determined distances, the control unit determines the actual change in distance between the stereo camera and the object, and the control unit determines, dependent on the deviation of the apparent change in distance from the actual change in distance, at least one calibration parameter for the determination of further distances between the stereo camera and the object and/or between the stereo camera and at least one further object with the aid of object images recorded by the stereo camera.
Specification