CN106462996B - 无失真显示车辆周边环境的方法和装置 - Google Patents

无失真显示车辆周边环境的方法和装置 Download PDF

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CN106462996B
CN106462996B CN201580024006.5A CN201580024006A CN106462996B CN 106462996 B CN106462996 B CN 106462996B CN 201580024006 A CN201580024006 A CN 201580024006A CN 106462996 B CN106462996 B CN 106462996B
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vehicle
data
camera
surrounding environment
grid
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CN106462996A (zh
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M·弗里贝
J·佩措尔德
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Continental Zhixing Germany Co ltd
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Conti Temic Microelectronic GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/10—Geometric effects
    • G06T15/20—Perspective computation
    • G06T15/205—Image-based rendering
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T9/00—Image coding
    • 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
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • 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
    • 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
    • B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
    • 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
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • 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
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • 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
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • 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
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/306—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images
    • 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
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • 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
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
    • 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
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
    • 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
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Computing Systems (AREA)
  • Computer Graphics (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)
CN201580024006.5A 2014-05-08 2015-05-06 无失真显示车辆周边环境的方法和装置 Active CN106462996B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102014208664.7 2014-05-08
DE102014208664.7A DE102014208664A1 (de) 2014-05-08 2014-05-08 Verfahren und vorrichtung zum verzerrungsfreien anzeigen einer fahrzeugumgebung eines fahrzeuges
PCT/DE2015/200301 WO2015169316A2 (de) 2014-05-08 2015-05-06 Verfahren und vorrichtung zum verzerrungsfreien anzeigen einer fahrzeugumgebung eines fahrzeuges

Publications (2)

Publication Number Publication Date
CN106462996A CN106462996A (zh) 2017-02-22
CN106462996B true CN106462996B (zh) 2020-06-09

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Country Link
US (1) US20170203692A1 (cg-RX-API-DMAC7.html)
EP (1) EP3140813B1 (cg-RX-API-DMAC7.html)
JP (1) JP6860348B2 (cg-RX-API-DMAC7.html)
KR (1) KR101911610B1 (cg-RX-API-DMAC7.html)
CN (1) CN106462996B (cg-RX-API-DMAC7.html)
DE (2) DE102014208664A1 (cg-RX-API-DMAC7.html)
WO (1) WO2015169316A2 (cg-RX-API-DMAC7.html)

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KR102261312B1 (ko) * 2015-04-21 2021-06-08 주식회사 만도 다중 카메라 운전 보조 시스템
DE102015221340B4 (de) * 2015-10-30 2021-02-25 Conti Temic Microelectronic Gmbh Vorrichtung und Verfahren zur Bereitstellung einer Fahrzeugumgebungsansicht für ein Fahrzeug
DE102015223176A1 (de) 2015-11-24 2017-05-24 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Ermittlung von Verdeckungsbereichen in der Fahrzeugumgebung eines Fahrzeuges
DE102016203709B4 (de) * 2016-03-08 2018-04-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Bildverarbeitungsverfahren, Bildverarbeitungsmittel und Bildverarbeitungsvorrichtung zur Erzeugung von Abbildungen eines Teils eines dreidimensionalen Raums
EP3252658B1 (en) 2016-05-30 2021-08-11 Kabushiki Kaisha Toshiba Information processing apparatus and information processing method
US11204610B2 (en) 2016-05-30 2021-12-21 Kabushiki Kaisha Toshiba Information processing apparatus, vehicle, and information processing method using correlation between attributes
DE102016220894A1 (de) * 2016-10-25 2018-04-26 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zum Erzeugen einer Fahrzeugumgebungsansicht bei einem Fahrzeug
DE102016223391A1 (de) * 2016-11-25 2018-05-30 Conti Temic Microelectronic Gmbh Verfahren und vorrichtung zum erzeugen einer fahrzeugumgebungsansicht bei einem fahrzeug
JP6859216B2 (ja) * 2017-07-03 2021-04-14 トヨタ自動車株式会社 車両周辺表示装置
CN107948501A (zh) * 2017-10-30 2018-04-20 深圳市易成自动驾驶技术有限公司 自动环视方法、装置及计算机可读存储介质
CN107972585A (zh) * 2017-11-30 2018-05-01 惠州市德赛西威汽车电子股份有限公司 结合雷达信息的自适应3d环视场景重建系统与方法
DE102018203590A1 (de) * 2018-03-09 2019-09-12 Conti Temic Microelectronic Gmbh Surroundview-System mit angepasster Projektionsfläche
DE102018210812A1 (de) 2018-06-30 2020-01-02 Robert Bosch Gmbh Verfahren zu einer sensor- und speicherbasierten Darstellung einer Umgebung, Anzeigevorrichtung und Fahrzeug mit der Anzeigevorrichtung
DE102018214875A1 (de) * 2018-08-31 2020-03-05 Audi Ag Verfahren und Anordnung zum Erzeugen einer Umgebungsrepräsentation eines Fahrzeugs und Fahrzeug mit einer solchen Anordnung
CN120876699A (zh) * 2018-09-26 2025-10-31 相干逻辑公司 任何世界视图生成
JP2022513830A (ja) * 2018-12-13 2022-02-09 コンチネンタル オートモーティヴ ゲゼルシャフト ミット ベシュレンクテル ハフツング 道路の表面上の対象体を検出してモデル化する方法
DE102019203274B3 (de) 2019-03-11 2020-07-09 Zf Friedrichshafen Ag Computerimplementiertes Verfahren zum Erstellen eines Umfeldmodells für ein automatisiert betreibbares Fahrzeug, Steuergerät und Computerprogrammprodukt zur automatisierten Steuerung eines Fahrzeuges und Steuerungssystem für ein Fahrzeug
TWM593949U (zh) * 2019-04-19 2020-04-21 帷享科技股份有限公司 用於車輛之影像整合警示系統
DE102020201000B3 (de) 2020-01-28 2021-07-29 Zf Friedrichshafen Ag Computerimplementiertes Verfahren und System zum Erhalten eines Umfeldmodells und Steuergerät für ein automatisiert betreibbares Fahrzeug
CN112277806B (zh) * 2020-11-24 2021-11-16 广州市车智连电子有限公司 全景泊车影像系统
DE102022206782A1 (de) 2022-07-04 2024-01-04 Continental Autonomous Mobility Germany GmbH Verfahren zum Erzeugen einer Ansicht mit einem Kamerasystem sowie Kamerasystem
DE102022124085A1 (de) * 2022-09-20 2024-03-21 Connaught Electronics Ltd. Darstellung von Bilddaten in einem Fahrzeug abhängig von Sensordaten

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JP2002019556A (ja) * 2000-07-04 2002-01-23 Matsushita Electric Ind Co Ltd 監視システム
CN102483882A (zh) * 2009-09-14 2012-05-30 罗伯特·博世有限公司 用于在汽车的泊车辅助系统中显示障碍物的方法和装置
CN102795161A (zh) * 2011-05-24 2012-11-28 富士通天株式会社 图像显示系统、图像处理设备、及图像显示方法
WO2013053589A1 (de) * 2011-10-14 2013-04-18 Robert Bosch Gmbh Verfahren zur darstellung eines fahrzeugumfeldes
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Also Published As

Publication number Publication date
EP3140813B1 (de) 2019-07-10
KR101911610B1 (ko) 2018-10-24
CN106462996A (zh) 2017-02-22
WO2015169316A3 (de) 2015-12-30
KR20160145598A (ko) 2016-12-20
US20170203692A1 (en) 2017-07-20
WO2015169316A2 (de) 2015-11-12
DE112015000833A5 (de) 2016-12-08
DE102014208664A1 (de) 2015-11-12
JP2017515727A (ja) 2017-06-15
EP3140813A2 (de) 2017-03-15
JP6860348B2 (ja) 2021-04-14

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