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FR3118253B1 - Système et procédé de calcul d’une image finale d’un environnement d’un véhicule - Google Patents

Système et procédé de calcul d’une image finale d’un environnement d’un véhicule Download PDF

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Publication number
FR3118253B1
FR3118253B1 FR2013460A FR2013460A FR3118253B1 FR 3118253 B1 FR3118253 B1 FR 3118253B1 FR 2013460 A FR2013460 A FR 2013460A FR 2013460 A FR2013460 A FR 2013460A FR 3118253 B1 FR3118253 B1 FR 3118253B1
Authority
FR
France
Prior art keywords
image
environment
captured
vehicle
icorr2
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2013460A
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English (en)
Other versions
FR3118253A1 (fr
Inventor
Andrea Ancora
Fabrizio Tamatis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Original Assignee
Renault SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Renault SAS filed Critical Renault SAS
Priority to FR2013460A priority Critical patent/FR3118253B1/fr
Priority to EP21820553.2A priority patent/EP4264535A1/fr
Priority to PCT/EP2021/083198 priority patent/WO2022128413A1/fr
Priority to US18/257,778 priority patent/US12418722B2/en
Priority to CN202180084944.XA priority patent/CN116685998A/zh
Publication of FR3118253A1 publication Critical patent/FR3118253A1/fr
Application granted granted Critical
Publication of FR3118253B1 publication Critical patent/FR3118253B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/08—Projecting images onto non-planar surfaces, e.g. geodetic screens
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/80—Geometric correction
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G06V10/247—Aligning, centring, orientation detection or correction of the image by affine transforms, e.g. correction due to perspective effects; Quadrilaterals, e.g. trapezoids
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • G06V10/803—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of input or preprocessed data
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30264—Parking

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Databases & Information Systems (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)
  • Geometry (AREA)

Abstract

L’invention propose un procédé de calcul d’une image finale d’un environnement d’un véhicule, à partir d’au moins une image capturée dans une première portion angulaire de l’environnement du véhicule par au moins une caméra et une distance entre le véhicule et un point de l’environnement déterminée dans une deuxième portion angulaire située dans une des premières portions angulaires par au moins un capteur de mesure, ledit procédé comprenant : une étape (100) de capture d’une image pour générer une image capturée (I1, I2) de l’environnement situé dans la première portion angulaire associée à ladite caméra, pour chaque image capturée (I1, I2), une étape (200) de correction d’une distorsion dans l’image capturée pour générer une image corrigée (Icorr1, Icorr2) ;pour chaque image corrigée (Icorr1, Icorr2), une étape (300) de transformation de perspective de l’image corrigée (Icorr1, Icorr2) à partir d’une matrice stockant une distance pré-calculée entre la caméra et un point de l’environnement correspondant;une étape (400) d’addition des images transformées (Itrans1, Itrans2) pour obtenir l’image finale (Ifin1). Selon l’invention, l’étape (300) de transformation de perspective comprend une étape (500) de mise à jour de la distance pré-calculée par la distance déterminée par le capteur de mesure. Figure pour l’abrégé : Fig. 2
FR2013460A 2020-12-17 2020-12-17 Système et procédé de calcul d’une image finale d’un environnement d’un véhicule Active FR3118253B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR2013460A FR3118253B1 (fr) 2020-12-17 2020-12-17 Système et procédé de calcul d’une image finale d’un environnement d’un véhicule
EP21820553.2A EP4264535A1 (fr) 2020-12-17 2021-11-26 Système et procédé de calcul d'une image finale d'un environnement d'un véhicule
PCT/EP2021/083198 WO2022128413A1 (fr) 2020-12-17 2021-11-26 Système et procédé de calcul d'une image finale d'un environnement d'un véhicule
US18/257,778 US12418722B2 (en) 2020-12-17 2021-11-26 System and method for computing a final image of an area surrounding a vehicle
CN202180084944.XA CN116685998A (zh) 2020-12-17 2021-11-26 用于计算车辆周围区域的最终图像的系统和方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2013460 2020-12-17
FR2013460A FR3118253B1 (fr) 2020-12-17 2020-12-17 Système et procédé de calcul d’une image finale d’un environnement d’un véhicule

Publications (2)

Publication Number Publication Date
FR3118253A1 FR3118253A1 (fr) 2022-06-24
FR3118253B1 true FR3118253B1 (fr) 2023-04-14

Family

ID=74592234

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2013460A Active FR3118253B1 (fr) 2020-12-17 2020-12-17 Système et procédé de calcul d’une image finale d’un environnement d’un véhicule

Country Status (5)

Country Link
US (1) US12418722B2 (fr)
EP (1) EP4264535A1 (fr)
CN (1) CN116685998A (fr)
FR (1) FR3118253B1 (fr)
WO (1) WO2022128413A1 (fr)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010109483A (ja) * 2008-10-28 2010-05-13 Honda Motor Co Ltd 車両周辺表示方法
JP5884439B2 (ja) * 2011-11-24 2016-03-15 アイシン精機株式会社 車両周辺監視用画像生成装置
US10127463B2 (en) * 2014-11-21 2018-11-13 Magna Electronics Inc. Vehicle vision system with multiple cameras
TWI536313B (zh) * 2015-06-30 2016-06-01 財團法人工業技術研究院 車用環景系統調校方法
DE102016225066A1 (de) * 2016-12-15 2018-06-21 Conti Temic Microelectronic Gmbh Rundumsichtsystem für ein Fahrzeug
TWI602154B (zh) * 2017-04-26 2017-10-11 偉詮電子股份有限公司 環景影像的拼接方法及其系統
US20190349571A1 (en) * 2018-05-11 2019-11-14 Ford Global Technologies, Llc Distortion correction for vehicle surround view camera projections
US10796402B2 (en) 2018-10-19 2020-10-06 Tusimple, Inc. System and method for fisheye image processing
US12141949B2 (en) * 2019-03-26 2024-11-12 Sony Semiconductor Solutions Corporation Vehicle-mounted camera apparatus and image distortion correction method
JP2021034915A (ja) * 2019-08-26 2021-03-01 ソニー株式会社 移動体搭載レーダアンテナ、移動体搭載レーダアンテナ用モジュール及び移動体搭載レーダアンテナシステム

Also Published As

Publication number Publication date
US12418722B2 (en) 2025-09-16
US20240107169A1 (en) 2024-03-28
CN116685998A (zh) 2023-09-01
FR3118253A1 (fr) 2022-06-24
WO2022128413A1 (fr) 2022-06-23
EP4264535A1 (fr) 2023-10-25

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