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WO2016004947A3 - Vorrichtung zur entfernungsmessung, fahrzeug und verfahren - Google Patents

Vorrichtung zur entfernungsmessung, fahrzeug und verfahren Download PDF

Info

Publication number
WO2016004947A3
WO2016004947A3 PCT/DE2015/200402 DE2015200402W WO2016004947A3 WO 2016004947 A3 WO2016004947 A3 WO 2016004947A3 DE 2015200402 W DE2015200402 W DE 2015200402W WO 2016004947 A3 WO2016004947 A3 WO 2016004947A3
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
camera
measuring device
distance measuring
images
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.)
Ceased
Application number
PCT/DE2015/200402
Other languages
English (en)
French (fr)
Other versions
WO2016004947A2 (de
Inventor
Ralph GREWE
Stefan Hegemann
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.)
Aumovio Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic GmbH
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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Priority to DE112015003166.9T priority Critical patent/DE112015003166A5/de
Priority to EP15752912.4A priority patent/EP3167240A2/de
Priority to JP2016572792A priority patent/JP2017525942A/ja
Publication of WO2016004947A2 publication Critical patent/WO2016004947A2/de
Publication of WO2016004947A3 publication Critical patent/WO2016004947A3/de
Priority to US15/400,159 priority patent/US20170116758A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/30—Interpretation of pictures by triangulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
    • G01C3/14—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with binocular observation at a single point, e.g. stereoscopic type
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • 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
    • 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)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Multimedia (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Rear-View Mirror Devices That Are Mounted On The Exterior Of The Vehicle (AREA)

Abstract

Die vorliegende Erfindung offenbart eine Vorrichtung zur Entfernungsmessung mit einer Kamera, welche beweglich auf einem Kameraträger angeordnet ist, mit einer Steuereinrichtung, welche ausgebildet ist, eine Bewegung der Kamera, insbesondere im stationären Zustand der Vorrichtung, derart zu steuern, dass die Kamera in mindestens zwei Positionen mindestens zwei Bilder aufnimmt, mit einer Recheneinrichtung, welche ausgebildet ist, basierend auf den mindestens zwei Bildern den Abstand der Vorrichtung zu auf den Bildern sichtbaren Objekten zu berechnen und auszugeben. Ferner offenbart die vorliegende Erfindung ein Fahrzeug und ein Verfahren.
PCT/DE2015/200402 2014-07-07 2015-07-07 Vorrichtung zur entfernungsmessung, fahrzeug und verfahren Ceased WO2016004947A2 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112015003166.9T DE112015003166A5 (de) 2014-07-07 2015-07-07 Vorrichtung zur Entfernungsmessung, Fahrzeug und Verfahren
EP15752912.4A EP3167240A2 (de) 2014-07-07 2015-07-07 Vorrichtung zur entfernungsmessung, fahrzeug und verfahren
JP2016572792A JP2017525942A (ja) 2014-07-07 2015-07-07 距離測定用装置、車両、並びに、方法
US15/400,159 US20170116758A1 (en) 2014-07-07 2017-01-06 Method and device for measuring distance using a camera

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014213175.8 2014-07-07
DE102014213175.8A DE102014213175A1 (de) 2014-07-07 2014-07-07 Vorrichtung zur entfernungsmessung, fahrzeug und verfahren

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/400,159 Continuation US20170116758A1 (en) 2014-07-07 2017-01-06 Method and device for measuring distance using a camera

Publications (2)

Publication Number Publication Date
WO2016004947A2 WO2016004947A2 (de) 2016-01-14
WO2016004947A3 true WO2016004947A3 (de) 2016-03-17

Family

ID=53886787

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2015/200402 Ceased WO2016004947A2 (de) 2014-07-07 2015-07-07 Vorrichtung zur entfernungsmessung, fahrzeug und verfahren

Country Status (5)

Country Link
US (1) US20170116758A1 (de)
EP (1) EP3167240A2 (de)
JP (1) JP2017525942A (de)
DE (2) DE102014213175A1 (de)
WO (1) WO2016004947A2 (de)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108139211B (zh) * 2015-09-29 2021-01-15 索尼公司 用于测量的装置和方法以及程序
CN105627995B (zh) * 2016-03-31 2018-03-23 京东方科技集团股份有限公司 摄像装置、转动装置、测距装置、测距系统和测距方法
JP6819680B2 (ja) * 2016-06-08 2021-01-27 ソニー株式会社 撮像制御装置および方法、並びに車両
KR102058050B1 (ko) * 2017-08-16 2019-12-20 엘지전자 주식회사 운행 보조 시스템 및 차량
EP3718828A1 (de) * 2019-04-04 2020-10-07 Visteon Global Technologies, Inc. System zur bereitstellung einer seitenspiegelfunktion
DE102020106301A1 (de) 2020-03-09 2021-09-09 Zf Cv Systems Global Gmbh Verfahren zum Ermitteln einer Objekt-Information zu einem Objekt in einer Fahrzeugumgebung, Steuereinheit und Fahrzeug
US20240185442A1 (en) * 2022-12-01 2024-06-06 Zimeno Inc. Monocular depth estimation
DE102024103085A1 (de) * 2024-02-05 2025-08-07 Rheinmetall Electronics Gmbh Kamera-Vorrichtung mit Bildstabilisierung, Plattform mit Kamera-Vorrichtung und Verfahren zum Betreiben einer Kamera-Vorrichtung

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6594600B1 (en) * 1997-10-24 2003-07-15 Commissariat A L'energie Atomique Method for calibrating the initial position and the orientation of one or several mobile cameras
DE102009031809A1 (de) * 2009-07-03 2011-01-13 Volkswagen Ag Verfahren und Vorrichtung zur Vermessung des Umfeldes eines Kraftfahrzeugs

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4019214A1 (de) * 1990-06-15 1991-12-19 Volker Prof Dr Graefe Verfahren und vorrichtung zur abstandsmessung zwischen einem messobjekt und einer relativ zum messobjekt bewegten messeinrichtung
FR2673499B1 (fr) * 1991-03-01 1995-08-04 Renault Dispositif de retrovision par camera pour vehicule automobile.
JP3882083B2 (ja) * 2003-11-26 2007-02-14 国立大学法人岐阜大学 測距装置
US7990467B2 (en) * 2004-11-08 2011-08-02 Sony Corporation Parallax image pickup apparatus and image pickup method
GB2447672B (en) * 2007-03-21 2011-12-14 Ford Global Tech Llc Vehicle manoeuvring aids
DE102008060684B4 (de) * 2008-03-28 2019-05-23 Volkswagen Ag Verfahren und Vorrichtung zum automatischen Einparken eines Kraftfahrzeugs
WO2010080610A1 (en) * 2008-12-19 2010-07-15 Delphi Technologies, Inc. Electronic side view display system
JP5588812B2 (ja) * 2010-09-30 2014-09-10 日立オートモティブシステムズ株式会社 画像処理装置及びそれを用いた撮像装置
US8773285B2 (en) * 2010-12-28 2014-07-08 Automotive Research & Test Center Parking pilot method and device
WO2013067082A1 (en) * 2011-11-01 2013-05-10 Magna Mirrors Of America, Inc. Vision system with door mounted exterior mirror and display

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6594600B1 (en) * 1997-10-24 2003-07-15 Commissariat A L'energie Atomique Method for calibrating the initial position and the orientation of one or several mobile cameras
DE102009031809A1 (de) * 2009-07-03 2011-01-13 Volkswagen Ag Verfahren und Vorrichtung zur Vermessung des Umfeldes eines Kraftfahrzeugs

Also Published As

Publication number Publication date
JP2017525942A (ja) 2017-09-07
US20170116758A1 (en) 2017-04-27
EP3167240A2 (de) 2017-05-17
WO2016004947A2 (de) 2016-01-14
DE112015003166A5 (de) 2017-03-16
DE102014213175A1 (de) 2016-01-07

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