ES2143257T3 - Dispositivo para la determinacion de la distancia y/o de la posicion. - Google Patents

Dispositivo para la determinacion de la distancia y/o de la posicion.

Info

Publication number
ES2143257T3
ES2143257T3 ES96945719T ES96945719T ES2143257T3 ES 2143257 T3 ES2143257 T3 ES 2143257T3 ES 96945719 T ES96945719 T ES 96945719T ES 96945719 T ES96945719 T ES 96945719T ES 2143257 T3 ES2143257 T3 ES 2143257T3
Authority
ES
Spain
Prior art keywords
distance
image
space
measuring
measurement
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.)
Expired - Lifetime
Application number
ES96945719T
Other languages
English (en)
Inventor
Alain Gaillard
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Application granted granted Critical
Publication of ES2143257T3 publication Critical patent/ES2143257T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
    • G01S3/784—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems using a mosaic of detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • 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
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Multimedia (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

LA INVENCION SE REFIERE A UN DISPOSITIVO PARA DETERMINAR LA DISTANCIA Y/O LA POSICION DE UN OBJETO (19) RESPECTO DE UN PUESTO DE MEDIDA, CON UN EQUIPO DE MEDIDA DE LA DISTANCIA OPTICA (3), CON UN EQUIPO GRABADOR DE IMAGENES (5) QUE REGISTRA EL OBJETO (19) Y CON UN EQUIPO DE EVALUACION (7), AL QUE SE LLEVAN LAS SEÑALES DE IMAGEN DEL EQUIPO GRABADOR DE IMAGENES (5) Y QUE, A LA VISTA DEL VALOR DE LA DISTANCIA SUMINISTRADO POR EL EQUIPO DE MEDIDA DE LA DISTANCIA OPTICA (3) Y DE LA POSICION DEL OBJETO (19) EN LA GRABACION DE IMAGENES, DETERMINA LA POSICION ESPACIAL DEL OBJETO. LA INVENCION SE REFIERE ADEMAS A UN PROCEDIMIENTO PARA DETERMINAR UNA POSICION ESPACIAL DEL OBJETO (19) RESPECTO DE UN PUESTO DE MEDIDA DETERMINADO, EN QUE UN EQUIPO DE MEDIDA DE LA DISTANCIA OPTICA (3) SUMINISTRA LA DISTANCIA ENTRE EL PUESTO DE MEDIDA Y EL OBJETO (19), EN QUE MEDIANTE UNA IMAGEN DEL OBJETO (19) GRABADA DESDE EL LUGAR DE MEDIDA SE CALCULAN LAS COORDENADAS ESPACIALES EN EL PLANO PARALELO AL DE LA IMAGEN Y EN QUE LA TERCERA COORDENADA ESPACIAL SE CALCULA A PARTIR DEL VALOR DE LA DISTANCIA Y DE LAS OTRAS DOS COORDENADAS ESPACIALES.
ES96945719T 1996-01-30 1996-11-12 Dispositivo para la determinacion de la distancia y/o de la posicion. Expired - Lifetime ES2143257T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19603267A DE19603267A1 (de) 1996-01-30 1996-01-30 Vorrichtung zur Abstands- und/oder Positionsbestimmung

Publications (1)

Publication Number Publication Date
ES2143257T3 true ES2143257T3 (es) 2000-05-01

Family

ID=7784041

Family Applications (1)

Application Number Title Priority Date Filing Date
ES96945719T Expired - Lifetime ES2143257T3 (es) 1996-01-30 1996-11-12 Dispositivo para la determinacion de la distancia y/o de la posicion.

Country Status (6)

Country Link
EP (1) EP0877951B1 (es)
JP (1) JP2000504418A (es)
KR (1) KR19990081876A (es)
DE (2) DE19603267A1 (es)
ES (1) ES2143257T3 (es)
WO (1) WO1997028457A1 (es)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19852908B4 (de) * 1998-11-09 2005-03-10 Deutsch Zentr Luft & Raumfahrt Verfahren zur Aufnahme von Böden und Decken von Räumen
DE19932779A1 (de) * 1999-07-14 2001-01-25 Daimler Chrysler Ag Rückfahrhilfe
DE10005222A1 (de) * 2000-02-05 2001-09-13 Valeo Schalter & Sensoren Gmbh Vorrichtung zur optischen Überwachung des Umfelds eines Kraftfahrzeugs
GB2365360B (en) * 2000-08-02 2004-08-25 Timothy James Ball Racing simulation system
DE10038808A1 (de) * 2000-08-09 2002-02-21 Volkswagen Ag Elektronische Kameraeinrichtung
DE10114784A1 (de) * 2001-03-26 2002-10-10 Sick Ag Vorrichtung zur Überwachung eines Schutzfeldes
US7248344B2 (en) * 2001-04-04 2007-07-24 Instro Precision Limited Surface profile measurement
DE10148062A1 (de) * 2001-09-28 2003-04-10 Ibeo Automobile Sensor Gmbh Verfahren zur Verarbeitung eines tiefenaufgelösten Bildes
DE50212810D1 (de) 2001-06-15 2008-11-06 Ibeo Automobile Sensor Gmbh Korrekturverfahren für daten mehrerer optoelektronischer sensoren
JP2001356170A (ja) * 2001-07-09 2001-12-26 Nac Image Technology Inc ビデオカメラ使用の移動体計測装置
JP2003216981A (ja) * 2002-01-25 2003-07-31 Iwane Kenkyusho:Kk 自動作業システム
DE10243397B4 (de) * 2002-09-18 2005-09-29 Spies, Martin, Dipl.-Ing. (FH) Sensorsystem zur Auslösung von Schutzmaßnahme für KfZ-Insassen und Fußgänger
DE10349210B4 (de) * 2003-10-23 2014-02-13 Robert Bosch Gmbh System und Verfahren zum vorausschauenden Detektieren eines potentiellen Unfallobjektes im Kraftfahrzeugbereich
DE10360413A1 (de) * 2003-12-19 2005-07-14 Robert Bosch Gmbh Vorrichtung zur Kalibrierung eines Bildsensorsystems
DE102004037870B4 (de) * 2004-08-04 2007-02-15 Siemens Ag Optisches Modul für ein den Außenvorraum in Fahrtrichtung eines Kraftfahrzeuges erfassendes Assistenzsystem
DE102004039740A1 (de) 2004-08-17 2006-02-23 Robert Bosch Gmbh Verfahren und Vorrichtung zu Abstandsbestimmung und Objektbestimmung
JP4882428B2 (ja) * 2006-03-06 2012-02-22 株式会社豊田中央研究所 環境認識装置
KR100948947B1 (ko) * 2008-01-16 2010-03-23 한국생산기술연구원 이동체의 위치 추정 장치 및 그 방법
EP2676153A1 (en) * 2011-02-18 2013-12-25 Nikon Metrology NV System for measuring the position and movement of an object
CN102507134B (zh) * 2011-10-18 2013-11-06 大连理工大学 一种养殖网箱动态响应三维物理模拟测量装置的测量方法
DE102011084762A1 (de) * 2011-10-19 2013-04-25 Robert Bosch Gmbh Verfahren und Vorrichtung zur Ermittlung einer Position eines Objektes in einem Umfeld eines Fahrzeugs
JP6009753B2 (ja) * 2011-10-26 2016-10-19 株式会社トプコン 画像測定装置
AU2014280332B2 (en) * 2013-06-13 2017-09-07 Basf Se Detector for optically detecting at least one object

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2676284B1 (fr) * 1991-05-07 1994-12-02 Peugeot Procede de detection d'obstacles presents devant un vehicule automobile et dispositif pour la mise en óoeuvre d'un tel procede.
US5280287A (en) * 1992-06-30 1994-01-18 The United States Of America As Represented By The Secretary Of The Navy Coded identification and positioning system
JP3240835B2 (ja) * 1994-06-09 2001-12-25 株式会社日立製作所 車両用距離計測装置

Also Published As

Publication number Publication date
DE19603267A1 (de) 1997-07-31
DE59604472D1 (de) 2000-03-23
JP2000504418A (ja) 2000-04-11
KR19990081876A (ko) 1999-11-15
EP0877951A1 (de) 1998-11-18
WO1997028457A1 (de) 1997-08-07
EP0877951B1 (de) 2000-02-16

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