WO2007144213A3 - Bildaufnahmesystem und verfahren für die entfernungsbestimmung mit einem bildaufnahmesystem - Google Patents

Bildaufnahmesystem und verfahren für die entfernungsbestimmung mit einem bildaufnahmesystem Download PDF

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Publication number
WO2007144213A3
WO2007144213A3 PCT/EP2007/053441 EP2007053441W WO2007144213A3 WO 2007144213 A3 WO2007144213 A3 WO 2007144213A3 EP 2007053441 W EP2007053441 W EP 2007053441W WO 2007144213 A3 WO2007144213 A3 WO 2007144213A3
Authority
WO
WIPO (PCT)
Prior art keywords
recording system
image recording
range finding
image sensor
finding
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/EP2007/053441
Other languages
English (en)
French (fr)
Other versions
WO2007144213A2 (de
Inventor
Karsten Muehlmann
Alexander Wuerz-Wessel
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
Priority to EP07727909A priority Critical patent/EP2033163A2/de
Priority to US12/300,731 priority patent/US8896690B2/en
Publication of WO2007144213A2 publication Critical patent/WO2007144213A2/de
Publication of WO2007144213A3 publication Critical patent/WO2007144213A3/de
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation 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
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • 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
    • 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
    • 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
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Measurement Of Optical Distance (AREA)
  • Traffic Control Systems (AREA)

Abstract

Die Erfindung betrifft ein insbesondere fahrzeuggebundenes Bildaufnahmesystem (80) mit einem Bildsensor (81), der eine aus linearen Abschnitten (K1.1, K1.2, K1.3) zusammengesetzte Kennlinie (K1) aufweist, umfassend Mittel für die Bestimmung der Entfernung der von dem Bildsensor (81) abgebildeten leuchtenden Objekten (20, 21, 22).
PCT/EP2007/053441 2006-06-12 2007-04-10 Bildaufnahmesystem und verfahren für die entfernungsbestimmung mit einem bildaufnahmesystem Ceased WO2007144213A2 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP07727909A EP2033163A2 (de) 2006-06-12 2007-04-10 Bildaufnahmesystem und verfahren für die entfernungsbestimmung mit einem bildaufnahmesystem
US12/300,731 US8896690B2 (en) 2006-06-12 2007-04-10 Image acquisition system and method for distance determination using an image recording system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006027121.1 2006-06-12
DE102006027121A DE102006027121A1 (de) 2006-06-12 2006-06-12 Bildaufnahmesystem und Verfahren für die Entfernungsbestimmung mit einem Bildaufnahmesystem

Publications (2)

Publication Number Publication Date
WO2007144213A2 WO2007144213A2 (de) 2007-12-21
WO2007144213A3 true WO2007144213A3 (de) 2008-04-17

Family

ID=38663818

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/053441 Ceased WO2007144213A2 (de) 2006-06-12 2007-04-10 Bildaufnahmesystem und verfahren für die entfernungsbestimmung mit einem bildaufnahmesystem

Country Status (4)

Country Link
US (1) US8896690B2 (de)
EP (1) EP2033163A2 (de)
DE (1) DE102006027121A1 (de)
WO (1) WO2007144213A2 (de)

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Publication number Priority date Publication date Assignee Title
DE102009001614B4 (de) 2009-03-17 2019-10-10 Robert Bosch Gmbh Verfahren und Steuergerät zum Abbilden einer nichtlinearen Kennlinie
DE102009055269B4 (de) 2009-12-23 2012-12-06 Robert Bosch Gmbh Verfahren zur Bestimmung der Relativbewegung mittels einer HDR-Kamera
US8509982B2 (en) 2010-10-05 2013-08-13 Google Inc. Zone driving
DE102011079141A1 (de) 2011-07-14 2013-01-17 Robert Bosch Gmbh Programmierbare Kamera, Programmiervorrichtung, Programmierbares Kamerasystem und Verfahren zur Programmierung
TWI526706B (zh) * 2011-10-05 2016-03-21 原相科技股份有限公司 影像系統
JP6045889B2 (ja) * 2012-11-27 2016-12-14 クラリオン株式会社 車載用制御装置
JP5987660B2 (ja) * 2012-11-30 2016-09-07 富士通株式会社 画像処理装置、画像処理方法及びプログラム
US8983705B2 (en) 2013-04-30 2015-03-17 Google Inc. Methods and systems for detecting weather conditions including fog using vehicle onboard sensors
US9025140B2 (en) * 2013-05-07 2015-05-05 Google Inc. Methods and systems for detecting weather conditions including sunlight using vehicle onboard sensors
US9632210B2 (en) 2013-05-07 2017-04-25 Google Inc. Methods and systems for detecting weather conditions using vehicle onboard sensors
US9207323B2 (en) 2013-04-11 2015-12-08 Google Inc. Methods and systems for detecting weather conditions including wet surfaces using vehicle onboard sensors
US10247854B2 (en) 2013-05-07 2019-04-02 Waymo Llc Methods and systems for detecting weather conditions using vehicle onboard sensors
US9321461B1 (en) 2014-08-29 2016-04-26 Google Inc. Change detection using curve alignment
US9248834B1 (en) 2014-10-02 2016-02-02 Google Inc. Predicting trajectories of objects based on contextual information
US9616773B2 (en) 2015-05-11 2017-04-11 Uber Technologies, Inc. Detecting objects within a vehicle in connection with a service
US10712160B2 (en) 2015-12-10 2020-07-14 Uatc, Llc Vehicle traction map for autonomous vehicles
US9841763B1 (en) 2015-12-16 2017-12-12 Uber Technologies, Inc. Predictive sensor array configuration system for an autonomous vehicle
US9840256B1 (en) 2015-12-16 2017-12-12 Uber Technologies, Inc. Predictive sensor array configuration system for an autonomous vehicle
US9990548B2 (en) 2016-03-09 2018-06-05 Uber Technologies, Inc. Traffic signal analysis system
US9672446B1 (en) * 2016-05-06 2017-06-06 Uber Technologies, Inc. Object detection for an autonomous vehicle
US10678262B2 (en) 2016-07-01 2020-06-09 Uatc, Llc Autonomous vehicle localization using image analysis and manipulation
IT201600094414A1 (it) * 2016-09-20 2018-03-20 St Microelectronics Srl Un procedimento per rilevare un veicolo in sorpasso, relativo sistema di elaborazione, sistema di rilevazione di un veicolo in sorpasso e veicolo
FR3092176B1 (fr) * 2019-01-29 2021-02-19 Alessandro Manneschi Scanner corporel de sécurité à double champs

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DE4332612A1 (de) * 1992-09-25 1994-04-07 Yazaki Corp Außenansichts-Überwachungsverfahren für Kraftfahrzeuge
US6114951A (en) * 1996-12-27 2000-09-05 Fuji Jukogyo Kabushiki Kaisha Vehicle collision preventing apparatus
DE10301898A1 (de) * 2003-01-17 2004-08-05 Robert Bosch Gmbh Verfahren zur Einstellung eines Bildsensors

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DE4332612A1 (de) * 1992-09-25 1994-04-07 Yazaki Corp Außenansichts-Überwachungsverfahren für Kraftfahrzeuge
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Also Published As

Publication number Publication date
US8896690B2 (en) 2014-11-25
DE102006027121A1 (de) 2007-12-13
EP2033163A2 (de) 2009-03-11
WO2007144213A2 (de) 2007-12-21
US20090322872A1 (en) 2009-12-31

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