DE102008035428A1 - Vehicle i.e. tractor-trailer, environment monitoring method, involves generating entire image, and increasing area of reference plane in overlapping area with respect to another area lying outside of overlapping area - Google Patents
Vehicle i.e. tractor-trailer, environment monitoring method, involves generating entire image, and increasing area of reference plane in overlapping area with respect to another area lying outside of overlapping area Download PDFInfo
- Publication number
- DE102008035428A1 DE102008035428A1 DE102008035428A DE102008035428A DE102008035428A1 DE 102008035428 A1 DE102008035428 A1 DE 102008035428A1 DE 102008035428 A DE102008035428 A DE 102008035428A DE 102008035428 A DE102008035428 A DE 102008035428A DE 102008035428 A1 DE102008035428 A1 DE 102008035428A1
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- Prior art keywords
- reference plane
- virtual reference
- area
- image
- vehicle
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Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000012544 monitoring process Methods 0.000 title claims abstract description 9
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 240000004050 Pentaglottis sempervirens Species 0.000 claims description 7
- 230000001419 dependent effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000011161 development Methods 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-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
- B60R2300/10—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
- B60R2300/303—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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
-
- 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
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Überwachung einer Umgebung eines Fahrzeuges gemäß dem Oberbegriff des Anspruchs 1. Die Erfindung betrifft weiterhin eine Vorrichtung zur Überwachung einer Umgebung eines Fahrzeuges gemäß dem Oberbegriff des Anspruchs 7.The The invention relates to a method for monitoring a Environment of a vehicle according to the preamble of claim 1. The invention further relates to a device for monitoring an environment of a vehicle according to Preamble of claim 7.
Nutzfahrzeuge zum Güter- oder Personentransport sind häufig durch große Fahrzeugabmessungen und eine geringe Übersichtlichkeit gekennzeichnet. Daraus resultiert, dass insbesondere ein Rangieren mit diesen Fahrzeugen für einen Fahrer sehr schwierig ist. Deshalb ist es vorteilhaft, Fahrzeuge und deren Umgebung, insbesondere eine Umgebung hinter oder neben diesem, aus einer Vogelperspektive auf einem Bildschirm darzustellen, so dass das Fahrzeug und dessen gesamte Umgebung für den Fahrer sichtbar sind.commercial vehicles for freight or passenger transport are common due to large vehicle dimensions and a low clarity characterized. As a result, in particular a shunting with these vehicles is very difficult for a driver. That is why it is advantageous to vehicles and their environment, in particular an environment behind or beside it, from a bird's eye view to display on a screen so that the vehicle and its entire environment are visible to the driver.
Aus dem Stand der Technik sind verschiedene Verfahren und Vorrichtungen zu einer derartigen Überwachung und Darstellung einer Umgebung eines Fahrzeuges bekannt, wobei einem Fahrer des Fahrzeuges insbesondere ein Bild des Fahrzeuges und dessen Umgebung aus einer Vogelperspektive ausgegeben wird. Dadurch wird für den Fahrer eine verbesserte Rundumsicht geschaffen, die diesem als Assistenzfunktion bzw. Unterstützung während des Fahrbetriebes, beispielsweise bei einem Rangieren des Fahrzeuges, dient. Weiterhin können Unfälle vermieden werden, welche sich häufig aufgrund einer schlechten Rundumsicht, insbesondere bei großen und schwer überschaubaren Fahrzeugen, ereignen.Out The prior art includes various methods and devices to such monitoring and representation of an environment a vehicle known, wherein a driver of the vehicle in particular a picture of the vehicle and its surroundings issued from a bird's eye view becomes. This provides the driver with improved all-round visibility created this as an assistance function or support during driving, for example, when maneuvering the Vehicle, serves. Furthermore, accidents can be avoided which are often due to poor visibility, especially for large and difficult to manage Vehicles, happen.
Dabei wird häufig ein Gesamtbild mit der Darstellung des Fahrzeuges und dessen Umgebung aus der Vogelperspektive aus mehreren aneinander angrenzenden oder sich überlappenden Bildaufnahmen ermittelt. Nachteilig ist jedoch, dass beim Zusammensetzen mehrerer aneinander angrenzender Bildaufnahmen zu einem Gesamtbild in der Vogelperspektive in Übergangsbereichen einzelner Bildausschnitte neben Verzerrungen auch Sprungstellen auftreten können, in welchen erfasste Objekte auf Grund perspektivischer Unterschiede nicht zu sehen sind.there Often a general picture with the representation of the vehicle becomes and its surroundings bird's-eye view of several adjoining ones or overlapping image captures. adversely However, when composing multiple adjacent images to a bird's-eye view in transition areas individual image sections in addition to distortions and jumps occur can, in which detected objects on a perspective Differences are not visible.
Aus
der
Weiterhin
offenbart die
Der Erfindung liegt die daher die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren und eine verbesserte Vorrichtung zur Überwachung einer Umgebung eines Fahrzeuges anzugeben, welches einfach realisierbar ist, einen geringen Verarbeitungsaufwand erfordert und eine zuverlässige und vollständige Wiedergabe von Bildinformationen, insbesondere auch von Objekten oder Abschnitten von Objekten, welche sich nicht direkt auf dem Boden befinden, ermöglicht.The invention is therefore based on the object to provide a comparison with the prior art improved method and an improved device for monitoring an environment of a vehicle, which is easy to implement, requires a low processing overhead and a reliable and complete reproduction of image information, especially of objects or sections of objects that are not located directly on the ground, allows.
Hinsichtlich des Verfahrens wird die Aufgabe erfindungsgemäß durch die im Anspruch 1 angegebenen Merkmale gelöst. Hinsichtlich der Vorrichtung wird die Aufgabe erfindungsgemäß durch die im Anspruch 7 angegebenen Merkmale gelöst.Regarding of the method according to the invention by the features specified in claim 1 solved. Regarding The device according to the invention by the task the features specified in claim 7 solved.
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.advantageous Embodiments of the invention are the subject of the dependent claims.
Bei dem erfindungsgemäßen Verfahren zur Überwachung einer Umgebung eines Fahrzeuges wird die Umgebung mittels zumindest einer ersten Bilderfassungseinheit und einer zweiten Bilderfassungseinheit, deren Erfassungsbereiche sich zumindest teilweise überlappen und einen Überlappungsbereich bilden, erfasst, wobei aus mittels der Bilderfassungseinheiten erfassten Einzelbildern anhand einer mittels der Bildverarbeitungseinheit ausgeführten Projektion der Einzelbilder auf eine virtuelle Referenzebene ein Gesamtbild erzeugt wird, welches das Fahrzeug und seine Umgebung aus einer Vogelperspektive zeigt.at the method according to the invention for monitoring an environment of a vehicle, the environment by means of at least a first image acquisition unit and a second image acquisition unit, their coverage areas overlap at least partially and form an overlap area, detected, wherein Using the image acquisition units captured frames based on a projection executed by the image processing unit of the individual images on a virtual reference plane an overall image is generated, which the vehicle and its surroundings from a Bird's-eye view.
Um in dem Überlappungsbereich befindliche Objekte, beispielsweise Personen, Hindernisse oder andere Gegenstände insbesondere auch bei Fahrzeugen mit einer großen Fahrzeuglänge, sicher zu erfassen, wird erfindungsgemäß ein Bereich der virtuellen Referenzebene zumindest in dem Überlappungsbereich der Bilderfassungseinheiten gegenüber einem außerhalb des Überlappungsbereiches liegenden Bereich erhöht. Somit ist für einen Fahrer des Fahrzeuges stets die gesamte Umgebung und das Fahrzeug sichtbar und Unfälle mit Sach- und/oder Personenschäden können vermieden werden.Around in the overlap area located objects, for example Persons, obstacles or other objects in particular even for vehicles with a large vehicle length, For sure, according to the invention, an area the virtual reference plane at least in the overlap area the image capture units to one outside the region of overlap increases. Thus, for a driver of the vehicle is always the entire Environment and the vehicle visible and accidents with property and / or personal injury can be avoided.
Dabei wird die Erhöhung der virtuellen Referenzebene gemäß einer Gewinn bringenden Weiterbildung der Erfindung in Abhängigkeit von einer Höhe der Bilderfassungseinheiten zu der virtuellen Referenzebene, einem Abstand zu dem Überlappungsbereich und einem Abstand zwischen den Bilderfassungseinheiten gewählt, so dass stets eine optimale Darstellung erzielt wird.there is the increase of the virtual reference plane according to a Profit-bringing development of the invention in dependence from a height of the image capture units to the virtual one Reference plane, a distance to the overlap area and a distance between the image acquisition units, so that always an optimal presentation is achieved.
Die Erhöhung der virtuellen Referenzebene wird in einer Ausgestaltung der Erfindung anhand jeweils in Blickrichtung der Bilderfassungseinheiten verlaufender linearer, stufenförmiger und/oder kurvenförmiger Anstiege der virtuellen Referenzebene erzielt, wobei die Objekte bzw. zumindest Abschnitte der Einzelbilder auf die Anstiege der virtuellen Referenzebene projiziert werden. Daraus resultiert der Vorteil, dass die Objekte vollständig sichtbar und somit für den Fahrer einfach und schnell identifizierbar sind.The Increasing the virtual reference plane is in one embodiment of the invention, each extending in the direction of the image detection units linear, step-shaped and / or curved Increases in the virtual reference plane are achieved, with the objects or at least sections of the individual images on the climbs of be projected virtual reference plane. This results in the advantage that the objects are completely visible and therefore for the driver is easily and quickly identifiable.
Weiterhin wird der Bereich der Erhöhung der virtuellen Referenzebene kleiner, gleich oder größer dem Überlappungsbereich gewählt.Farther becomes the area of increase of the virtual reference plane smaller, equal to or greater than the overlap area selected.
Um eine weiter verbesserte und eindeutige Darstellung zu erzielen, wird der Bereich der Erhöhung der virtuellen Referenzebene in dem Gesamtbild zusätzlich markiert, wobei zur Ausgabe des Gesamtbildes eine optische Anzeigeeinheit vorgesehen ist.Around to achieve a further improved and clear presentation, becomes the area of increase of the virtual reference plane in the overall picture additionally marked, whereby to the expenditure of the overall image, a visual display unit is provided.
Ferner sind die Bilderfassungseinheiten Kameras, insbesondere omnidirektionale Kameras, so dass mittels einer Bilderfassungseinheit in vorteilhafter Weise große Bereiche der Umgebung des Fahrzeuges und des Fahrzeuges selbst erfassbar sind.Further the image capture units are cameras, especially omnidirectional Cameras, so that by means of an image acquisition unit in an advantageous Way large areas of the environment of the vehicle and the Vehicle itself are detectable.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.embodiments The invention will be described in more detail below with reference to drawings explained.
Dabei zeigen:there demonstrate:
Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.each other corresponding parts are in all figures with the same reference numerals Mistake.
In
den
Insbesondere
um ein Rangieren des gegliederten Fahrzeuges
Im
dargestellten Ausführungsbeispiel der Erfindung ist das
gegliederte Fahrzeug
Am
vorderen Ende des ersten Fahrzeuggliedes
Bei
den Bilderfassungseinheiten
Die
Bilderfassungseinheiten
Bei
dieser virtuellen Referenzebene E handelt es sich insbesondere um
eine Ebene, welche auf Höhe einer Fahrbahn des Fahrzeuges
Da
Fahrzeuge, insbesondere das dargestellte gegliederte Fahrzeug
Um
das Objekt O, bei welchem es sich neben einer Person auch um Hindernisse
oder andere Gegenstände handeln kann, dem Fahrer des Fahrzeuges
Diese
Erhöhung wird in Abhängigkeit von einer Höhe
H2, H3 der Bilderfassungseinheiten
Mit
anderen Worten wird durch eine solche Erhöhung beispielsweise
eine Grundfläche zwischen zwei Fahrzeuggliedern
Dabei ist der Bereich EB der Erhöhung der Referenzebene E im dargestellten Ausführungsbeispiel der Erfindung so groß wie der Überlappungsbereich U gewählt, wobei der Bereich EB der Erhöhung EB in weiteren nicht näher dargestellten Ausgestaltungen der Erfindung auch kleiner oder größer als der Überlappungsbereich U sein kann.In this case, the region E B of the increase of the reference plane E in the illustrated embodiment of the invention is as large as the overlap region U selected, wherein the region E B of the increase E B in other not illustrated embodiments of the invention also be smaller or larger than the overlap region U can.
Die
Erhöhung der Referenzebene E ist alternativ zu einem dargestellten
linearen Anstieg EA auch anhand jeweils
in Blickrichtung der Bilderfassungseinheiten
Bei
der Umwandlung der Einzelbilder in das Gesamtbild G werden zumindest
Abschnitte der Einzelbilder auf die Anstiege EA der
Referenzebene E projiziert, so dass das Objekt O im Gesamtbild G
für den Fahrer des Fahrzeuges
Die
Projektion des Objektes O auf die Anstiege EA stellt
ein in der
Zu einer deutlichen Darstellung des Bereiches EB der Erhöhung der Referenzebene E für den Fahrer, ist dieser im Gesamtbild G anhand von Markierungen M markiert dargestellt.For a clear representation of the range E B of the increase of the reference plane E for the driver, this is shown in the overall image G marked by marks M.
In
weiteren nicht näher dargestellten Ausgestaltungen der
Erfindung sind mehr oder weniger als die zwei Bilderfassungseinheiten
- 11
- Fahrzeugvehicle
- 1.11.1
- Erstes Fahrzeuggliedfirst vehicle link
- 1.21.2
- Zweites Fahrzeuggliedsecond vehicle link
- 22
- BilderfassungseinheitImage capture unit
- 33
- BilderfassungseinheitImage capture unit
- A1A1
- Abstanddistance
- A2A2
- Abstanddistance
- A3A3
- Abstanddistance
- BB
- Betrachtungspunktviewpoint
- Ee
- Referenzebenereference plane
- EA E A
- Anstiegrise
- EB E B
- BereichArea
- GG
- Gesamtbildoverall picture
- H2H2
- Höheheight
- H3H3
- Höheheight
- OO
- Objektobject
- O'O'
- Virtuelles Objektvirtual object
- UU
- Überlappungsbereichoverlap area
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - US 2006202984 A1 [0005] US 2006202984 A1 [0005]
- - DE 102006003538 B3 [0006] - DE 102006003538 B3 [0006]
Claims (13)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008035428A DE102008035428B4 (en) | 2008-07-30 | 2008-07-30 | Method and device for monitoring an environment of a vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008035428A DE102008035428B4 (en) | 2008-07-30 | 2008-07-30 | Method and device for monitoring an environment of a vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102008035428A1 true DE102008035428A1 (en) | 2010-02-04 |
DE102008035428B4 DE102008035428B4 (en) | 2010-11-18 |
Family
ID=41461468
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102008035428A Expired - Fee Related DE102008035428B4 (en) | 2008-07-30 | 2008-07-30 | Method and device for monitoring an environment of a vehicle |
Country Status (1)
Country | Link |
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DE (1) | DE102008035428B4 (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2788957A1 (en) * | 2011-12-07 | 2014-10-15 | Robert Bosch GmbH | Method for representing a motor vehicle environment |
DE102014012250A1 (en) | 2014-08-19 | 2015-03-26 | Daimler Ag | Method for image processing and display |
US9082315B2 (en) | 2012-03-08 | 2015-07-14 | Industrial Technology Research Institute | Surrounding bird view monitoring image generation method and training method, automobile-side device, and training device thereof |
EP2560140A4 (en) * | 2010-04-12 | 2017-03-15 | Sumitomo Heavy Industries, LTD. | Image generation device and operation support system |
US11358526B2 (en) | 2016-09-13 | 2022-06-14 | Stoneridge Electronics Ab | Automatic panning system |
WO2022162168A1 (en) * | 2021-01-28 | 2022-08-04 | Saidinger Gmbh | Transport vehicle with load securing system |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014108684B4 (en) | 2014-06-20 | 2024-02-22 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Vehicle with an environmental monitoring device and method for operating such a monitoring device |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060202984A1 (en) | 2005-03-09 | 2006-09-14 | Sanyo Electric Co., Ltd. | Driving support system |
DE102006003538B3 (en) | 2006-01-24 | 2007-07-19 | Daimlerchrysler Ag | Image acquisitions merging method for bird`s eye perspective, involves selecting image sections such that shadowing effects produced by moved objects are projected during transition in overall image from image section to other section |
-
2008
- 2008-07-30 DE DE102008035428A patent/DE102008035428B4/en not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20060202984A1 (en) | 2005-03-09 | 2006-09-14 | Sanyo Electric Co., Ltd. | Driving support system |
DE102006003538B3 (en) | 2006-01-24 | 2007-07-19 | Daimlerchrysler Ag | Image acquisitions merging method for bird`s eye perspective, involves selecting image sections such that shadowing effects produced by moved objects are projected during transition in overall image from image section to other section |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2560140A4 (en) * | 2010-04-12 | 2017-03-15 | Sumitomo Heavy Industries, LTD. | Image generation device and operation support system |
EP2788957A1 (en) * | 2011-12-07 | 2014-10-15 | Robert Bosch GmbH | Method for representing a motor vehicle environment |
US9082315B2 (en) | 2012-03-08 | 2015-07-14 | Industrial Technology Research Institute | Surrounding bird view monitoring image generation method and training method, automobile-side device, and training device thereof |
DE102014012250A1 (en) | 2014-08-19 | 2015-03-26 | Daimler Ag | Method for image processing and display |
DE102014012250B4 (en) | 2014-08-19 | 2021-09-16 | Adc Automotive Distance Control Systems Gmbh | Process for image processing and display |
US11358526B2 (en) | 2016-09-13 | 2022-06-14 | Stoneridge Electronics Ab | Automatic panning system |
WO2022162168A1 (en) * | 2021-01-28 | 2022-08-04 | Saidinger Gmbh | Transport vehicle with load securing system |
Also Published As
Publication number | Publication date |
---|---|
DE102008035428B4 (en) | 2010-11-18 |
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