CN102428494B - 汽车视觉系统和方法 - Google Patents
汽车视觉系统和方法 Download PDFInfo
- Publication number
- CN102428494B CN102428494B CN201080022150.2A CN201080022150A CN102428494B CN 102428494 B CN102428494 B CN 102428494B CN 201080022150 A CN201080022150 A CN 201080022150A CN 102428494 B CN102428494 B CN 102428494B
- Authority
- CN
- China
- Prior art keywords
- imageing sensor
- window
- vision system
- imaging device
- video
- 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
Links
- 238000000034 method Methods 0.000 title claims description 15
- 238000003384 imaging method Methods 0.000 claims abstract description 38
- 230000008569 process Effects 0.000 claims description 9
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 230000005055 memory storage Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 230000035807 sensation Effects 0.000 claims description 2
- 238000007781 pre-processing Methods 0.000 claims 2
- 239000000463 material Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
- B60R2300/402—Image calibration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/40—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled
- H04N25/44—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled by partially reading an SSIS array
- H04N25/443—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled by partially reading an SSIS array by reading pixels from selected 2D regions of the array, e.g. for windowing or digital zooming
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
- Studio Devices (AREA)
- Closed-Circuit Television Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (13)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP09006736.4A EP2254091B1 (en) | 2009-05-19 | 2009-05-19 | Vision system and method for a motor vehicle |
EP09006736.4 | 2009-05-19 | ||
PCT/EP2010/002749 WO2010133295A1 (en) | 2009-05-19 | 2010-05-05 | Vision system and method for a motor vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102428494A CN102428494A (zh) | 2012-04-25 |
CN102428494B true CN102428494B (zh) | 2015-07-29 |
Family
ID=42103919
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201080022150.2A Active CN102428494B (zh) | 2009-05-19 | 2010-05-05 | 汽车视觉系统和方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20120038748A1 (zh) |
EP (1) | EP2254091B1 (zh) |
JP (1) | JP5841049B2 (zh) |
KR (1) | KR101375372B1 (zh) |
CN (1) | CN102428494B (zh) |
WO (1) | WO2010133295A1 (zh) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010062765A2 (en) | 2008-11-03 | 2010-06-03 | Motor Excellence, Llc | Transverse and/or commutated flux system rotor concepts |
US8395291B2 (en) | 2010-03-15 | 2013-03-12 | Electric Torque Machines, Inc. | Transverse and/or commutated flux systems for electric bicycles |
EP2548288A1 (en) | 2010-03-15 | 2013-01-23 | Motor Excellence, LLC | Transverse and/or commutated flux systems configured to provide reduced flux leakage, hysteresis loss reduction, and phase matching |
WO2011115634A1 (en) | 2010-03-15 | 2011-09-22 | Motor Excellence Llc | Transverse and/or commutated flux systems having phase offset |
CN106132783A (zh) * | 2014-04-08 | 2016-11-16 | Tk控股公司 | 用于夜视对象检测和驾驶员辅助的系统和方法 |
CA2916062C (en) | 2014-04-18 | 2020-08-11 | Cnh Industrial America Llc | Stereo vision for sensing vehicles operating environment |
US10931934B2 (en) * | 2014-09-02 | 2021-02-23 | FLIR Belgium BVBA | Watercraft thermal monitoring systems and methods |
EP3176750B1 (en) * | 2015-12-04 | 2019-03-13 | Veoneer Sweden AB | Vision system for a motor vehicle and method of controlling a vision system |
CN110461270B (zh) * | 2017-02-14 | 2023-01-10 | 阿特雷塞斯有限责任公司 | 具有压缩和/或cmos开窗的高速光学跟踪 |
US11392133B2 (en) | 2017-06-06 | 2022-07-19 | Plusai, Inc. | Method and system for object centric stereo in autonomous driving vehicles |
US11573573B2 (en) | 2017-06-06 | 2023-02-07 | Plusai, Inc. | Method and system for distributed learning and adaptation in autonomous driving vehicles |
US11042155B2 (en) | 2017-06-06 | 2021-06-22 | Plusai Limited | Method and system for closed loop perception in autonomous driving vehicles |
US11158088B2 (en) | 2017-09-11 | 2021-10-26 | Tusimple, Inc. | Vanishing point computation and online alignment system and method for image guided stereo camera optical axes alignment |
US11089288B2 (en) * | 2017-09-11 | 2021-08-10 | Tusimple, Inc. | Corner point extraction system and method for image guided stereo camera optical axes alignment |
CN113572939A (zh) * | 2021-07-30 | 2021-10-29 | 南京智凝人工智能研究院有限公司 | 一种基于主动视觉的新能源汽车传感系统 |
CN113436057B (zh) * | 2021-08-27 | 2021-11-19 | 绍兴埃瓦科技有限公司 | 数据处理方法及双目立体匹配方法 |
Citations (5)
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CN1748167A (zh) * | 2003-02-06 | 2006-03-15 | 宝马股份公司 | 用于以红外图像和可见图像与环境相关的结合来显示车辆环境的方法和装置 |
EP1641268A1 (en) * | 2004-06-15 | 2006-03-29 | Matsusita Electric Industrial Co., Ltd. | Monitor and vehicle periphery monitor |
CN1825951A (zh) * | 2005-02-21 | 2006-08-30 | 株式会社自动网络技术研究所 | 车辆周围环境观察装置 |
CN101269635A (zh) * | 2007-03-23 | 2008-09-24 | 株式会社电装 | 视场监视设备 |
WO2009011458A1 (ja) * | 2007-07-17 | 2009-01-22 | Toyota Jidosha Kabushiki Kaisha | 車載画像処理装置 |
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JPH10224823A (ja) * | 1997-02-05 | 1998-08-21 | Sanyo Electric Co Ltd | 立体映像表示方法および立体映像表示装置 |
JP2002094977A (ja) * | 2000-09-14 | 2002-03-29 | Fujitsu Ten Ltd | 画像処理装置 |
US7365779B2 (en) * | 2000-09-14 | 2008-04-29 | Fujitsu Ten Limited | Image processing apparatus for selectively storing specific regions of an image |
JP3679988B2 (ja) * | 2000-09-28 | 2005-08-03 | 株式会社東芝 | 画像処理装置及び画像処理方法 |
US7995095B2 (en) * | 2001-10-18 | 2011-08-09 | Autoliv Development Ab | Night vision device for a vehicle |
JP3739693B2 (ja) | 2001-11-09 | 2006-01-25 | 本田技研工業株式会社 | 画像認識装置 |
JP3958638B2 (ja) * | 2002-06-25 | 2007-08-15 | 富士重工業株式会社 | ステレオ画像処理装置およびステレオ画像処理方法 |
JP3904988B2 (ja) * | 2002-06-27 | 2007-04-11 | 株式会社東芝 | 画像処理装置およびその方法 |
JP3902109B2 (ja) * | 2002-10-02 | 2007-04-04 | 本田技研工業株式会社 | 赤外線カメラ特性確認治具 |
ES2349590T3 (es) * | 2003-05-22 | 2011-01-05 | Fico Mirrors, Sa | Unidad de adquisición de imagen con dispositivo calefactor para monitorización del exterior de un automóvil. |
WO2004106858A1 (ja) * | 2003-05-29 | 2004-12-09 | Olympus Corporation | ステレオカメラシステム及びステレオ光学モジュール |
US7263209B2 (en) * | 2003-06-13 | 2007-08-28 | Sarnoff Corporation | Vehicular vision system |
US20050027028A1 (en) * | 2003-07-31 | 2005-02-03 | Kelly Stephen M. | Polymer networks, methods of fabricating and devices |
US7103213B2 (en) * | 2004-03-02 | 2006-09-05 | Sarnoff Corporation | Method and apparatus for classifying an object |
JP2006060460A (ja) * | 2004-08-19 | 2006-03-02 | Nissan Motor Co Ltd | 画像補正装置 |
JP2006203448A (ja) * | 2005-01-19 | 2006-08-03 | Hitachi Ltd | 車載ステレオカメラ装置 |
JP2006287274A (ja) * | 2005-03-07 | 2006-10-19 | Toshiba Teli Corp | 撮像装置及びそれを用いた立体視画像生成システム |
JP2006254318A (ja) * | 2005-03-14 | 2006-09-21 | Omron Corp | 車載用カメラ及び車載用監視装置並びに前方道路領域撮像方法 |
JP2006295539A (ja) * | 2005-04-11 | 2006-10-26 | Nissan Motor Co Ltd | 撮像装置及びその撮像範囲調整方法 |
US7869662B2 (en) * | 2005-04-22 | 2011-01-11 | Agilent Technologies, Inc. | System architecture for sensing an absolute position using a target pattern |
US8238695B1 (en) * | 2005-12-15 | 2012-08-07 | Grandeye, Ltd. | Data reduction techniques for processing wide-angle video |
US20100045773A1 (en) * | 2007-11-06 | 2010-02-25 | Ritchey Kurtis J | Panoramic adapter system and method with spherical field-of-view coverage |
US20070248260A1 (en) * | 2006-04-20 | 2007-10-25 | Nokia Corporation | Supporting a 3D presentation |
US20080002878A1 (en) * | 2006-06-28 | 2008-01-03 | Somasundaram Meiyappan | Method For Fast Stereo Matching Of Images |
US8456515B2 (en) * | 2006-07-25 | 2013-06-04 | Qualcomm Incorporated | Stereo image and video directional mapping of offset |
EP1931147B1 (en) * | 2006-12-04 | 2019-07-10 | Harman Becker Automotive Systems GmbH | Apparatus and method for processing an image of a surrounding of a vehicle |
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-
2009
- 2009-05-19 EP EP09006736.4A patent/EP2254091B1/en active Active
-
2010
- 2010-05-05 CN CN201080022150.2A patent/CN102428494B/zh active Active
- 2010-05-05 JP JP2012511165A patent/JP5841049B2/ja not_active Expired - Fee Related
- 2010-05-05 WO PCT/EP2010/002749 patent/WO2010133295A1/en active Application Filing
- 2010-05-05 US US13/265,896 patent/US20120038748A1/en not_active Abandoned
- 2010-05-05 KR KR1020117027553A patent/KR101375372B1/ko active IP Right Grant
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1748167A (zh) * | 2003-02-06 | 2006-03-15 | 宝马股份公司 | 用于以红外图像和可见图像与环境相关的结合来显示车辆环境的方法和装置 |
EP1641268A1 (en) * | 2004-06-15 | 2006-03-29 | Matsusita Electric Industrial Co., Ltd. | Monitor and vehicle periphery monitor |
CN1825951A (zh) * | 2005-02-21 | 2006-08-30 | 株式会社自动网络技术研究所 | 车辆周围环境观察装置 |
CN101269635A (zh) * | 2007-03-23 | 2008-09-24 | 株式会社电装 | 视场监视设备 |
WO2009011458A1 (ja) * | 2007-07-17 | 2009-01-22 | Toyota Jidosha Kabushiki Kaisha | 車載画像処理装置 |
Also Published As
Publication number | Publication date |
---|---|
EP2254091A1 (en) | 2010-11-24 |
WO2010133295A1 (en) | 2010-11-25 |
WO2010133295A8 (en) | 2011-01-13 |
KR101375372B1 (ko) | 2014-03-14 |
EP2254091B1 (en) | 2020-03-25 |
US20120038748A1 (en) | 2012-02-16 |
JP5841049B2 (ja) | 2016-01-06 |
JP2012527803A (ja) | 2012-11-08 |
CN102428494A (zh) | 2012-04-25 |
KR20120020124A (ko) | 2012-03-07 |
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Legal Events
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20180712 Address after: Sweden Wogaerda Patentee after: Vennell Sweden Address before: Sweden Wogaerda Patentee before: AUTOLIV DEVELOPMENT AB |
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TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220824 Address after: Linkping Patentee after: Anzher software Co. Address before: Sweden Wogaerda Patentee before: Vennell Sweden |