CN114423646B - 基于传感器融合的感知增强环绕视图 - Google Patents

基于传感器融合的感知增强环绕视图

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Publication number
CN114423646B
CN114423646B CN202080062849.5A CN202080062849A CN114423646B CN 114423646 B CN114423646 B CN 114423646B CN 202080062849 A CN202080062849 A CN 202080062849A CN 114423646 B CN114423646 B CN 114423646B
Authority
CN
China
Prior art keywords
vehicle
image
camera
region
view
Prior art date
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Active
Application number
CN202080062849.5A
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English (en)
Chinese (zh)
Other versions
CN114423646A (zh
Inventor
沙尚克·达布拉尔
艾什瓦尔雅·杜贝
马丁·弗里茨·米勒
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.)
Texas Instruments Inc
Original Assignee
Texas Instruments Inc
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Publication date
Application filed by Texas Instruments Inc filed Critical Texas Instruments Inc
Publication of CN114423646A publication Critical patent/CN114423646A/zh
Application granted granted Critical
Publication of CN114423646B publication Critical patent/CN114423646B/zh
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Anticipated expiration legal-status Critical

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Classifications

    • 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
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • 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
    • G06T1/00—General purpose image data processing
    • G06T1/0007—Image acquisition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/174—Segmentation; Edge detection involving the use of two or more images
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H04N1/21—Intermediate information storage
    • H04N1/2104—Intermediate information storage for one or a few pictures
    • H04N1/2112—Intermediate information storage for one or a few pictures using still video cameras
    • H04N1/2129—Recording in, or reproducing from, a specific memory area or areas, or recording or reproducing at a specific moment
    • 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
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the 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
    • B60R2300/105—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
    • 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
    • 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
    • G06T2207/30244—Camera pose
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N2201/00—Indexing scheme relating to scanning, transmission or reproduction of documents or the like, and to details thereof
    • H04N2201/0077—Types of the still picture apparatus
    • H04N2201/0084—Digital still camera

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Analysis (AREA)
  • Studio Devices (AREA)
  • Image Processing (AREA)
CN202080062849.5A 2019-09-09 2020-09-08 基于传感器融合的感知增强环绕视图 Active CN114423646B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201962897581P 2019-09-09 2019-09-09
US62/897,581 2019-09-09
US16/690,906 2019-11-21
US16/690,906 US11140364B2 (en) 2019-09-09 2019-11-21 Sensor fusion based perceptually enhanced surround view
PCT/US2020/049639 WO2021050405A1 (en) 2019-09-09 2020-09-08 Sensor fusion based perceptually enhanced surround view

Publications (2)

Publication Number Publication Date
CN114423646A CN114423646A (zh) 2022-04-29
CN114423646B true CN114423646B (zh) 2025-12-02

Family

ID=74180594

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080062849.5A Active CN114423646B (zh) 2019-09-09 2020-09-08 基于传感器融合的感知增强环绕视图

Country Status (5)

Country Link
US (3) US11140364B2 (https=)
EP (1) EP4028288B1 (https=)
JP (1) JP2022547531A (https=)
CN (1) CN114423646B (https=)
WO (1) WO2021050405A1 (https=)

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EP3776485B1 (en) * 2018-09-26 2022-01-26 Coherent Logix, Inc. Any world view generation
US11341607B2 (en) * 2019-06-07 2022-05-24 Texas Instruments Incorporated Enhanced rendering of surround view images
FR3111464B1 (fr) * 2020-06-12 2022-11-18 Renault Sas Procédé de calibration d’une caméra et dispositif associé
US12384295B2 (en) * 2021-01-05 2025-08-12 Magna Electronics Inc. Vehicular trailer angle detection system for fifth-wheel trailers
CN114323020B (zh) * 2021-12-06 2024-02-06 纵目科技（上海）股份有限公司 车辆的定位方法、系统、设备及计算机可读存储介质
EP4608695A1 (en) 2022-10-30 2025-09-03 Atieva, Inc. Visual representation and control enabled by remote computation and rendering
US12125225B1 (en) * 2023-04-04 2024-10-22 GM Global Technology Operations LLC Monocular camera system performing depth estimation of objects surrounding a vehicle
FR3149262A1 (fr) * 2023-05-30 2024-12-06 Renault S.A.S Système et procédé pour afficher une vue d’une zone de sol couverte par un véhicule
US20240430574A1 (en) * 2023-06-20 2024-12-26 Rivian Ip Holdings, Llc Vehicle camera system
JP2025153467A (ja) * 2024-03-29 2025-10-10 株式会社アイシン 運転支援装置
US20260116302A1 (en) * 2024-08-16 2026-04-30 Stoneridge Electronics Ab Camera monitor system with wide-angle indirect view with multiple cameras and combined views

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JP4459144B2 (ja) * 2005-09-26 2010-04-28 アルパイン株式会社 車両用画像表示装置
JP2007158642A (ja) * 2005-12-05 2007-06-21 Alpine Electronics Inc 車両周辺画像提供装置
CN103237685B (zh) * 2010-12-30 2017-06-13 明智汽车公司 盲区显示装置及方法
US9508014B2 (en) 2013-05-06 2016-11-29 Magna Electronics Inc. Vehicular multi-camera vision system
JP6349637B2 (ja) * 2013-07-11 2018-07-04 株式会社デンソー 車両用画像合成装置
US10210399B2 (en) 2013-12-20 2019-02-19 Magna Electronics Inc. Vehicle vision system with image processing
US9533618B2 (en) 2014-03-07 2017-01-03 Texas Instruments Incorporated Method, apparatus and system for processing a display from a surround view camera solution
KR101670847B1 (ko) * 2014-04-04 2016-11-09 주식회사 와이즈오토모티브 차량 주변 이미지 생성 장치 및 방법
GB201406405D0 (en) * 2014-04-09 2014-05-21 Jaguar Land Rover Ltd Apparatus and method for displaying information
US10438081B2 (en) 2015-10-30 2019-10-08 Texas Instruments Incorporated Automatic feature point detection for calibration of multi-camera systems
US10523865B2 (en) 2016-01-06 2019-12-31 Texas Instruments Incorporated Three dimensional rendering for surround view using predetermined viewpoint lookup tables
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JP6642306B2 (ja) * 2016-06-29 2020-02-05 アイシン精機株式会社 周辺監視装置
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JP6740991B2 (ja) * 2017-11-10 2020-08-19 株式会社デンソー 表示処理装置
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Also Published As

Publication number Publication date
WO2021050405A1 (en) 2021-03-18
EP4028288A4 (en) 2022-12-14
US20210092327A1 (en) 2021-03-25
US20210075959A1 (en) 2021-03-11
EP4028288B1 (en) 2025-08-27
US11140364B2 (en) 2021-10-05
JP2022547531A (ja) 2022-11-14
EP4028288A1 (en) 2022-07-20
US10897600B1 (en) 2021-01-19
CN114423646A (zh) 2022-04-29
US11528453B2 (en) 2022-12-13

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