DE102006023225A1 - Wide-angle camera e.g. rear view camera, image digital equalizing method for motor vehicle, involves representing identical objects in edge areas of incompletely equalized image larger and blurred than objects in center of camera image - Google Patents

Wide-angle camera e.g. rear view camera, image digital equalizing method for motor vehicle, involves representing identical objects in edge areas of incompletely equalized image larger and blurred than objects in center of camera image Download PDF

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DE102006023225A1
DE102006023225A1 DE102006023225A DE102006023225A DE102006023225A1 DE 102006023225 A1 DE102006023225 A1 DE 102006023225A1 DE 102006023225 A DE102006023225 A DE 102006023225A DE 102006023225 A DE102006023225 A DE 102006023225A DE 102006023225 A1 DE102006023225 A1 DE 102006023225A1
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image
wide
camera
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Markus Dr. Adameck
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Hella GmbH and Co KGaA
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Hella KGaA Huek and Co
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • 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
    • B60R2300/30—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
    • B60R2300/80—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

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
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Abstract

The method involves incompletely equalizing a wide angle camera image in such a manner that strongly curved lines in the wide angle camera image exhibit straight lines in nature and slightly curved lines in the incompletely equalized image. Identical objects in edge areas of the incompletely equalized image are represented larger than objects in center of the wide angle camera image and blurred than the objects in the camera image. An independent claim is also included for a device for digital equalization of a wide-angle camera image.

Description

STAND DER TECHNIKSTATE OF TECHNOLOGY

Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum digitalen Entzerren von Weitwinkelkamerabildern.The The invention relates to a method and a device for digital Distorting wide-angle camera images.

Für Rückfahrkameras in Kraftfahrzeugen werden in der Regel Weitwinkelkameras eingesetzt, um das Blickfeld, das von der Kamera erfasst wird, möglichst weit auszudehnen. Nur wenn das Blickfeld sehr weit ausgedehnt ist, kann ein Fahrer, welcher die Rückfahrkamera nutzt, den rückwärtigen Bereich des Kraftfahrzeugs so weit wie möglich erfassen.For rear view cameras in motor vehicles, wide-angle cameras are generally used, around the field of view captured by the camera, if possible to stretch far. Only when the field of vision is very wide, can a driver who the rear camera uses the rear area of the motor vehicle as far as possible to capture.

Der Nachteil der mit Weitwinkelobjektiven aufgenommenen Bildern ist, dass durch die Verwendung des Weitwinkels die Bilder im Randbereich stark verzerrt sind. Dieses kann besonders deutlich dann erkannt werden, wenn Gegenstände mit geraden Kanten aufgenommen werden. Sofern diese geraden Kanten nicht durch den Mittelpunkt des Bildes verlaufen, erscheinen diese im Kamerabild gekrümmt. Dieses wird von vielen Menschen als störend beziehungsweise irritierend empfunden. Es wurden daher Verfahren entwickelt, mit denen die mit einer Weitwinkelkamera aufgenommenen Bilder entzerrt werden können, so dass gerade Linien im entzerrten Bild als gerade Linien erscheinen. Zum Entzerren von Weitwinkelkamerabildern ist ein Verfahren bekannt, für das die folgende Gleichung angewandt wird.

Figure 00020001
mit den Parametern A = 1,4, b = –1,2·10–8, c = 2,1·10–6, d = –10–4, e = 1, k = 3,3·10–6 und a = 2,2·10–11.The disadvantage of the images taken with wide-angle lenses is that the use of the wide angle, the images in the edge area are heavily distorted. This can be recognized particularly clearly when objects with straight edges are picked up. If these straight edges do not pass through the center of the image, they appear curved in the camera image. This is perceived by many people as disturbing or irritating. Therefore, methods have been developed for equalizing the images taken with a wide-angle camera so that straight lines in the rectified image appear as straight lines. For equalizing wide-angle camera images, a method is known for which the following equation is applied.
Figure 00020001
with the parameters A = 1.4, b = -1.2 × 10 -8 , c = 2.1 × 10 -6 , d = -10 -4 , e = 1, k = 3.3 × 10 -6 and a = 2.2 × 10 -11 .

Diese Gleichung liefert unter Verwendung der folgenden Parameter ein vollständig entzerrtes Bild. Die vollständige Entzerrung des Bildes wird erreicht auf Kosten anderer dann auftretender Fehler. Zum einen nimmt die Schärfe in Randbereichen des entzerrten Bildes deutlich gegenüber dem verzerrten Bild ab. Zum anderen entsprechen die Größenverhältnisse im entzerrten Bild nicht mehr den Größenverhältnissen der Realität. Gegenstände, die in der Natur aber auch im verzerrten Bild gleich groß sind, erscheinen im vollständig entzerrten Bild im Zentrum des Bildes kleiner als in den Randbereichen.These Equation yields a fully equalized using the following parameters Image. The complete Equalization of the image is achieved at the expense of other then occurring ones Error. For one, the sharpness decreases in marginal areas of the rectified image clearly opposite distorted image. On the other hand, the proportions correspond in the rectified picture no longer the proportions of reality. Objects that in nature but also in the distorted picture are the same size, appear in completely equalized Picture in the center of the picture smaller than in the border areas.

Die im vollständig entzerrten Bild auftretenden Fehler werden ebenfalls von einem Teil der Benutzer als unangenehm empfunden. Die Benutzer sind insbesondere von den falschen Größenverhältnissen irritiert. Dieses kann bei einer Benutzung des Verfahrens bei einer Rückfahrkamera zu sicherheitsrelevanten Fehleinschätzungen führen.The im completely rectified image errors are also from a part the user felt uncomfortable. The users are particular from the wrong proportions irritated. This can when using the method in a backup camera lead to security-relevant misjudgments.

Die Benutzer von Rückfahrkamerasystemen spalten sich im Grunde genommen in zwei Lager. In das Lager derjenigen, die lieber ein vollständig entzerrtes Bild verwenden und in das Lager derjenigen, lieber ein verzerrtes Bild verwenden.The Users of reversing camera systems basically split into two camps. In the camp of those rather a complete one use rectified image and in the camp of those, rather a distorted Use image.

Ein Mittelweg zwischen den beiden Extremen, nämlich der Verwendung des vollständig entzerrten Bildes einerseits und der Verwendung des verzerrten Bildes andererseits ist bisher nicht bekannt.One Midway between the two extremes, namely the use of the fully equalized Image on the one hand and the use of the distorted image on the other is not known yet.

Hier setzt die vorliegende Erfindung an.Here uses the present invention.

VORTEILE DER ERFINDUNGADVANTAGES OF INVENTION

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren und eine Vorrichtung zum Entzerren von digitalen Weitwinkelkamerabildern vorzuschlagen, die einer möglichst großen Gruppe von Benutzern eine zufriedenstellende Bilddarstellung liefert.Of the The present invention is based on the object, a method and a device for equalizing wide angle digital camera images to propose one as possible huge Group of users provides a satisfying image representation.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass das Weitwinkelkamerabild unvollständig entzerrt wird, so dass im Weitwinkelkamerabild stark gekrümmt erscheinende, in der Natur jedoch gerade Linien im unvollständig entzerrten Bild leicht gekrümmt erscheinen, im Weitwinkelkamerabild und in der Natur gleichgroße Gegenstände in Randbereichen des unvollständig entzerrten Bildes größer dargestellt sind als im Zentrum des Kamerabildes und Gegenstände in Randbereichen des unvollständig entzerrten Bildes unschärfer dargestellt sind als im Weitwinkelkamerabild. Das erfindungsgemäße Verfahren liefert somit einen Kompromiss zwischen dem vollständig entzerrten Bild und dem Originalbild der Weitwinkelkamera. Das so nur unvollständig entzerrte Bild genügt den Wünschen der meisten Benutzer von Rückfahrkamerasystemen in Kraftfahrzeugen. Das Bild wird nur unvollständig entzerrt, wodurch einerseits in Kauf genommen wird, dass gerade Linien leicht gekrümmt erscheinen, andererseits jedoch erreicht wird, dass die Größenverhältnisse annähernd der Realität entsprechen und die Unschärfe in Randbereichen nicht über die Maßen abnimmt.This object is achieved in that the wide-angle camera image is incompletely equalized, so that appear in the wide-angle camera image strongly curved, in nature, however, straight lines in incompletely rectified image slightly curved, in the wide-angle camera image and in nature of equal size objects in marginal areas of the incompletely rectified image are shown in greater detail than in the center of the camera image and objects are shown out of focus in marginal areas of the incompletely rectified image than in the wide-angle camera image. The method according to the invention thus provides a compromise between the completely equalized picture and the original picture of the wide-angle camera. That's just incomplete constantly rectified image meets the needs of most users of reversing camera systems in motor vehicles. The image is rectified only incompletely, which on the one hand is accepted that straight lines appear slightly curved, but on the other hand it is achieved that the proportions correspond approximately to reality and the blurring does not diminish excessively in marginal areas.

Das erfindungsgemäße Verfahren zur unvollständigen Entzerrung der digitalen Weitwinkelkamerabilder kann beispielsweise unter Verwendung der Gleichung für eine vollständige Entzerrung erreicht werden mit der Maßgabe, dass zwei der Parameter gegenüber den entsprechenden Parametern bei der vollständigen Entzerrung verändert sind. Der Parameter K und der Parameter a können vorzugsweise geändert sein.The inventive method to incomplete For example, equalization of wide angle digital camera images can using the equation for a complete Equalization can be achieved with the proviso that two of the parameters across from the corresponding parameters in the case of complete equalization. The parameter K and the parameter a may preferably be changed.

Vorzugsweise wird das Weitwinkel-Kamerabild so entzerrt, dass im unvollständig entzerrten Bild gerade Linien in einem mittleren Bereich als gerade Linien erscheinen, wobei der mittlere Bereich einem Bereich entsprechen kann, der in der Natur auch bei einem extremen Lenkradeinschlag vom Kraftfahrzeug beim Durchfahren überstrichen wird.Preferably the wide angle camera image is equalized so that in the incompletely equalized Picture straight lines in a middle area as straight lines appear, with the middle area corresponding to a range can, in nature, even at an extreme steering wheel angle is swept by the motor vehicle while driving through.

Das erfindungsgemäße Verfahren kann in einer erfindungsgemäßen Vorrichtung zum digitalen Entzerren von Weitwinkelkamerabildern eingesetzt werden, wobei diese Vorrichtung dann zur Durchführung des Verfahrens geeignet und eingerichtet ist.The inventive method can in a device according to the invention used for digital equalization of wide-angle camera images, this device then being suitable for carrying out the method and is set up.

Eine derartige Vorrichtung kann dann Teil eines Bildverarbeitungssystems eines Kraftfahrzeugs sein, welches eine Weitwinkelrückfahrkamera umfasst.A Such device may then be part of an image processing system a motor vehicle, which is a wide-angle rear-view camera includes.

Claims (4)

Verfahren zum digitalen Entzerren von Weitwinkel-Kamerabilder, dadurch gekennzeichnet, dass das Weitwinkel-Kamerabild unvollständig entzerrt wird, so dass im Weitwinkel-Kamerabild stark gekrümmt erscheinende in der Natur jedoch gerade Linien im unvollständig entzerrten Bild leicht gekrümmt erscheinen, im Weitwinkel-Kamerabild und in der Natur gleichgroße Gegenstände in Randbereichen des unvollständig entzerrten Bildes größer dargestellt sind als im Zentrum des Kamerabildes und Gegenstände in Randbereichen des unvollständig entzerrten Bildes unschärfer dargestellt sind als im Weitwinkel-Kamerabild.Method for the digital equalization of wide-angle camera images, characterized in that the wide-angle camera image is incompletely equalized, so that in the wide-angle camera image appearing strongly curved in nature but straight lines in the incompletely rectified image slightly curved, in the wide-angle camera image and in the nature of equal sized objects are shown in marginal areas of the incompletely rectified image larger than shown in the center of the camera image and objects in edge areas of the incompletely rectified image blurred than in the wide-angle camera image. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass das Weitwinkel-Kamerabild auf die Art und Weise unvollständig entzerrt wird, dass nur in einem mittleren Bereich des unvollständig entzerrten Bildes, der in der Natur auch bei einem extremen Lenkradeinschlag durchfahrbar beziehungsweise vom Kraftfahrzeug überstreichbar ist, gerade Linien als gerade Linien erscheinen.Method according to claim 1, characterized in that that the wide-angle camera image is incompletely equalized in the way will that only in a middle range of the incompletely equalized Image that works in nature even at an extreme steering wheel angle can be driven through or painted over by the motor vehicle, straight lines appear as straight lines. Vorrichtung zum digitalen Entzerren von Weitwinkel-Kamerabildern, dadurch gekennzeichnet, dass die Vorrichtung zur Durchführung eines der Verfahren nach einem der Ansprüche 1 bis 4 geeignet und eingerichtet ist.Device for the digital equalization of wide-angle camera images, thereby characterized in that the apparatus for performing one of the method according to one of the claims 1 to 4 is suitable and furnished. Bildverarbeitungssystem für ein Kraftfahrzeug mit einer Weitwinkel-Fahrzeugkamera, dadurch gekennzeichnet, dass das Bildverarbeitungssystem eine Vorrichtung nach Anspruch 5 zum digitalen Entzerren von Weitwinkel-Kamerabildern der Weitwinkel-Fahrzeugkamera aufweist.Image processing system for a motor vehicle with a Wide-angle vehicle camera, characterized in that the image processing system a device according to claim 5 for the digital equalization of wide-angle camera images of Wide-angle vehicle camera has.
DE102006023225A 2006-05-18 2006-05-18 Wide-angle camera e.g. rear view camera, image digital equalizing method for motor vehicle, involves representing identical objects in edge areas of incompletely equalized image larger and blurred than objects in center of camera image Withdrawn DE102006023225A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69618192T2 (en) * 1995-05-22 2002-07-18 Donnelly Corp., Holland VEHICLE REVIEW SYSTEM WITH PANORAMIC VIEW
DE10221513B4 (en) * 2002-05-14 2004-03-11 Ce-Sys Gmbh Ilmenau Process for displaying images with a changed width-height ratio
DE10241464A1 (en) * 2002-09-06 2004-03-18 Robert Bosch Gmbh System monitoring surroundings of vehicle for e.g. parking purposes, combines inputs from near-field camera and far-field obstacle sensor, in display
DE102004043257A1 (en) * 2003-09-08 2005-04-21 Autonetworks Technologies Ltd Camera unit e.g. for surveillance of a vehicle environment, has photographic element and lens system and from pre-determined visual field photographic element are illustrated.

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69618192T2 (en) * 1995-05-22 2002-07-18 Donnelly Corp., Holland VEHICLE REVIEW SYSTEM WITH PANORAMIC VIEW
DE10221513B4 (en) * 2002-05-14 2004-03-11 Ce-Sys Gmbh Ilmenau Process for displaying images with a changed width-height ratio
DE10241464A1 (en) * 2002-09-06 2004-03-18 Robert Bosch Gmbh System monitoring surroundings of vehicle for e.g. parking purposes, combines inputs from near-field camera and far-field obstacle sensor, in display
DE102004043257A1 (en) * 2003-09-08 2005-04-21 Autonetworks Technologies Ltd Camera unit e.g. for surveillance of a vehicle environment, has photographic element and lens system and from pre-determined visual field photographic element are illustrated.

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