CN109791607B - 借助单应矩阵从摄像机的一系列图像中探测和验证对象 - Google Patents

借助单应矩阵从摄像机的一系列图像中探测和验证对象 Download PDF

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Publication number
CN109791607B
CN109791607B CN201780060471.3A CN201780060471A CN109791607B CN 109791607 B CN109791607 B CN 109791607B CN 201780060471 A CN201780060471 A CN 201780060471A CN 109791607 B CN109791607 B CN 109791607B
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China
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plane
image
planes
camera
spatial
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Chinese (zh)
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CN109791607A (zh
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M·沃尔特
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Continental Zhixing Germany Co ltd
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Continental Zhixing Germany Co ltd
Conti Temic Microelectronic GmbH
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    • 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • 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
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
CN201780060471.3A 2016-09-29 2017-09-28 借助单应矩阵从摄像机的一系列图像中探测和验证对象 Active CN109791607B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016218852.6 2016-09-29
DE102016218852.6A DE102016218852A1 (de) 2016-09-29 2016-09-29 Detektion von Objekten aus Bildern einer Kamera
PCT/DE2017/200102 WO2018059631A1 (de) 2016-09-29 2017-09-28 Detektion und validierung von objekten aus sequentiellen bildern einer kamera mittels homographien

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Publication Number Publication Date
CN109791607A CN109791607A (zh) 2019-05-21
CN109791607B true CN109791607B (zh) 2024-06-04

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Country Link
US (1) US10984263B2 (enExample)
EP (1) EP3520024B1 (enExample)
JP (1) JP7050763B2 (enExample)
KR (1) KR102491527B1 (enExample)
CN (1) CN109791607B (enExample)
DE (2) DE102016218852A1 (enExample)
WO (1) WO2018059631A1 (enExample)

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FR3155191A1 (fr) 2023-11-13 2025-05-16 Continental Autonomous Mobility Germany GmbH Détection de segments
FR3155189A1 (fr) 2023-11-13 2025-05-16 Continental Autonomous Mobility Germany GmbH Suivi anticipé d’objets latéraux
CN119705437B (zh) * 2025-01-20 2025-10-03 重庆长安汽车股份有限公司 一种车辆前向碰撞预警方法、装置、设备及存储介质

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Also Published As

Publication number Publication date
CN109791607A (zh) 2019-05-21
KR102491527B1 (ko) 2023-01-20
DE112017003466A5 (de) 2019-03-21
DE102016218852A1 (de) 2018-03-29
US10984263B2 (en) 2021-04-20
WO2018059631A1 (de) 2018-04-05
EP3520024A1 (de) 2019-08-07
JP7050763B2 (ja) 2022-04-08
KR20190059894A (ko) 2019-05-31
US20190180121A1 (en) 2019-06-13
EP3520024B1 (de) 2024-09-11
JP2019530924A (ja) 2019-10-24

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