DE102009016562A1 - Method for identifying objects in periphery of vehicle, involves recording image of periphery of vehicle at vehicle position, and another image of periphery of vehicle at another vehicle position by camera arranged on vehicle - Google Patents
Method for identifying objects in periphery of vehicle, involves recording image of periphery of vehicle at vehicle position, and another image of periphery of vehicle at another vehicle position by camera arranged on vehicle Download PDFInfo
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- DE102009016562A1 DE102009016562A1 DE102009016562A DE102009016562A DE102009016562A1 DE 102009016562 A1 DE102009016562 A1 DE 102009016562A1 DE 102009016562 A DE102009016562 A DE 102009016562A DE 102009016562 A DE102009016562 A DE 102009016562A DE 102009016562 A1 DE102009016562 A1 DE 102009016562A1
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- vehicle
- environment
- periphery
- image
- objects
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Erkennung von Objekten in einem Umfeld eines Fahrzeugs nach den Merkmalen des Oberbegriffs des Anspruchs 1 und eine Vorrichtung zur Durchführung des Verfahrens.The The invention relates to a method for detecting objects in a Environment of a vehicle according to the features of the preamble of the claim 1 and an apparatus for carrying out the method.
Aus
dem Stand der Technik ist, wie in der
In
der
Aus
der
In
der
Der Erfindung liegt die Aufgabe zugrunde, ein verbessertes Verfahren zur Erkennung von Objekten in einem Umfeld eines Fahrzeugs und eine Vorrichtung zur Durchführung des Verfahrens anzugeben.Of the Invention is based on the object, an improved method for detecting objects in an environment of a vehicle and a device to specify the procedure.
Die Aufgabe wird erfindungsgemäß durch ein Verfahren zur Erkennung von Objekten in einem Umfeld eines Fahrzeugs mit den Merkmalen des Anspruchs 1 gelöst. Hinsichtlich der Vorrichtung zur Durchführung des Verfahrens wird die Aufgabe durch die im Anspruch 6 angegebenen Merkmale gelöst.The The object is achieved by a method for detecting objects in an environment of a vehicle with the Characteristics of claim 1 solved. Regarding the device To carry out the method, the object is achieved by the In claim 6 specified features solved.
Bevorzugte Ausgestaltungen und Weiterbildungen der Erfindung sind in den abhängigen Ansprüchen angegeben.preferred Embodiments and developments of the invention are in the dependent Claims specified.
In einem Verfahren zur Erkennung von Objekten in einem Umfeld eines Fahrzeugs wird mittels zumindest einer am Fahrzeug angeordneten Kamera an einer ersten Fahrzeugposition ein erstes Bild des Umfeldes des Fahrzeugs erfasst und an einer zweiten Fahrzeugposition wird ein zweites Bild des Umfeldes des Fahrzeugs erfasst. Die beiden erfassten Bilder werden in einer Bildverarbeitungs- und Auswerteeinheit ausgewertet.In a method for detecting objects in an environment of a Vehicle is arranged by means of at least one on the vehicle Camera at a first vehicle position a first image of the environment of the vehicle detected and at a second vehicle position captured a second image of the environment of the vehicle. The two Captured images are in an image processing and evaluation evaluated.
Erfindungsgemäß wird eine Positionsänderung des Fahrzeugs zwischen der ersten Fahrzeugposition und der zweiten Fahrzeugposition durch eine Ermittlung eines optischen Flusses anhand zumindest eines in beiden Bildern dargestellten charakteristischen Punktes und/oder durch Sensoren zur Ermittlung eines Fahrwegs des Fahrzeugs ermittelt. Unter Verwendung der ermittelten Positionsänderung werden erfindungsgemäß weiterhin Positionen und Abmessungen von in den Bildern dargestellter Objekte im Umfeld des Fahrzeugs ermittelt, wobei daraus eine dreidimensionale Umfeldkarte des erfassten Umfeldes des Fahrzeugs mit einem Höhenprofil erzeugt wird.According to the invention, a change in position of the vehicle between the first vehicle position and the second vehicle position is determined by a determination of an optical flow on the basis of at least one characteristic point shown in both images and / or by sensors for determining a travel path of the vehicle. Using the determined change in position, positions and dimensions of objects shown in the images in the surroundings of the vehicle are furthermore determined according to the invention, from which a three-dimensional environment map of the detected environment of the vehicle having a height profile is generated therefrom.
Durch eine Auswertung derart erfasster Bildinformationen kann ein Fahrzeugführer vor Hindernissen gewarnt werden, welche das Fahrzeug beschädigen könnten. Dabei sind bereits im Fahrzeug vorhandene Kameras nutzbar. Durch das Verfahren wird auch eine Optimierung automatischer oder teilautomatischer Einparksysteme ermöglicht, da ein Umfeld des Fahrzeugs wesentlich genauer erfasst wird. Insbesondere ein Abstand von Fahrzeugreifen zu einem Bordstein ist bei automatischen oder teilautomatischen Einparksystemen durch Verwendung des Verfahrens deutlich verringerbar, ohne ein Risiko von Beschädigungen des Fahrzeugs zu erhöhen. Durch eine Kombination mit weiteren am Fahrzeug angeordneten Abstandssensoren, wie beispielsweise Ultraschallsensoren, wird eine Zuverlässigkeit weiter erhöht, da physikalisch bedingte Erfassungsungenauigkeiten ausgleichbar sind.By an evaluation of such detected image information can be a driver be warned of obstacles that damage the vehicle could. There are already existing cameras in the vehicle available. The process also makes optimization more automatic or semi-automatic parking systems allows, as an environment the vehicle is detected much more accurate. In particular a Distance from vehicle tires to a curb is automatic or semi-automatic parking systems by using the method significantly reducible without risk of damage of the vehicle. By a combination with others arranged on the vehicle distance sensors, such as ultrasonic sensors, Reliability is further increased as physically Conditional registration inaccuracies are compensated.
Ausführungsbeispiele der Erfindung werden anhand von Zeichnungen näher erläutert.embodiments The invention will be explained in more detail with reference to drawings.
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.
Die
Nach
dem Stand der Technik wird ein aktuell erfasstes Bild der Rückfahrkamera
auf einer optischen Ausgabeeinheit dargestellt. Dabei sind insbesondere
Abmessungen dargestellter Objekte O nur sehr schwer einzuschätzen.
Zusätzlich kann vor Objekten O, an welche sich das Fahrzeug
F annähert und welche mittels der Abstandssensoren A erfasst werden,
beispielsweise optisch, akustisch und/oder haptisch gewarnt werden.
Abstandssensoren A, beispielsweise auf Ultraschallbasis, haben allerdings
einen begrenzten Erfassungsbereich E, so dass beispielsweise bei
einer Annäherung an das hier dargestellte Objekt O, welches
eine Bordsteinkante darstellt, bei Unterschreitung eines bestimmten
Abstandes eine Erfassung des Objektes O durch die Abstandssensoren
A ausfällt. Wenn sich das Fahrzeug F in der ersten Fahrzeugposition
FP1 befindet, wie in
Mittels des Verfahrens zur Erkennung von Objekten O im Umfeld des Fahrzeugs F werden Positionen und Abmessungen von Objekten O im Umfeld des Fahrzeugs F ermittelt, welche in mittels der Kamera K erfassten Bildern B1, B2 dargestellt sind. Auf diese Weise kann eine dreidimensionale Umfeldkarte mit einem Höhenprofil des erfassten Umfeldes des Fahrzeugs F erzeugt und intern ausgewertet und/oder auf der optischen Ausgabeeinheit ausgegeben werden, so dass bei einer Annäherung des Fahrzeugs F an Objekte O, welche von vorgegebenen Ausformungen und/oder Abmessungen abweichen, eine optische, akustische und/oder haptische Warnung ausgegeben wird. Im hier dargestellten Beispiel ist das Objekt O die Bordsteinkante.through the method for detecting objects O in the environment of the vehicle F are positions and dimensions of objects O in the environment of Vehicle F determines which detected by means of the camera K. Pictures B1, B2 are shown. In this way, a three-dimensional Environment map with a height profile of the recorded environment of Vehicle F generated and evaluated internally and / or on the optical Output unit are output, so when approaching of the vehicle F to objects O, which of predetermined formations and / or dimensions differ, an optical, acoustic and / or haptic warning is issued. In the example shown here is the object O the curb.
Mittels
der Kamera K wird an der ersten, in
Um aus den beiden erfassten Bildern B1, B2 eine dreidimensionale Umfeldkarte erstellen zu können, welche ein Höhenprofil des Umfeldes des Fahrzeugs F umfasst, muss zunächst eine Positionsänderung des Fahrzeugs F zwischen der ersten Fahrzeugposition FP1 und der zweiten Fahrzeugposition FP2 ermittelt werden. Diese Positionsänderung, d. h. sowohl eine Richtung als auch eine zurückgelegte Entfernung, sind beispielsweise mittels Sensoren zur Ermittlung eines Fahrwegs des Fahrzeugs F ermittelbar, welche nach dem Stand der Technik bereits als Bestandteil von Fahrerassistenzsystemen, wie beispielsweise ein elektronisches Stabilitätsprogramm, im Fahrzeug F installiert sind. Mittels derartiger Sensoren werden beispielsweise Raddrehzahlen, eine Geschwindigkeit, ein Lenkradwinkel, ein Gierwinkel, eine Gierrate, eine Längs- und/oder Querbeschleunigung des Fahrzeugs F ermittelt, so dass daraus eine Positionsänderung des Fahrzeugs F und somit der Kamera K ermittelt werden kann.Around from the two captured images B1, B2 a three-dimensional environment map to create a height profile of the Environment of the vehicle F includes, first a position change of the vehicle F between the first vehicle position FP1 and the second vehicle position FP2 are determined. This position change, d. H. both a direction and a distance traveled, are for example by means of sensors for determining a guideway of the vehicle F can be determined, which according to the prior art already as part of driver assistance systems, such as an electronic stability program, installed in vehicle F are. By means of such sensors, for example, wheel speeds, a speed, a steering wheel angle, a yaw angle, a yaw rate, a longitudinal and / or lateral acceleration of the vehicle F determined, making it a change in position of the vehicle F and thus the camera K can be determined.
Eine
weitere Möglichkeit, welche alternativ oder beispielsweise
aus Redundanzgründen zusätzlich durchgeführt
werden kann, ist die Bestimmung der Positionsänderung durch
Bildauswertung der beiden mittels der Kamera K erfassten Bilder
B1, B2 in der Bildverarbeitungs- und Auswerteeinheit und, wie ebenfalls
in
Durch Vergleich der beiden Bilder B1, B2 ist zwischen dem im ersten Bild B1 dargestellten charakteristischen Punkt P(FP1) und dem im zweiten Bild B2 dargestellten, korrespondierenden charakteristischen Punkt P(FP2) ein Bewegungsvektor BV darstellbar. Eine Verschiebung des charakteristischen Punktes P(FP1), P(FP2) wird durch die Verschiebung eines Abbildungsbereiches der Kamera K hervorgerufen, welche fest am Fahrzeug F angeordnet ist. Das heißt, die Verschiebung, welche durch den Bewegungsvektor BV zwischen den dargestellten korrespondierenden charakteristischen Punkten P(FP1), P(FP2) dargestellt ist, korrespondiert mit der Positionsänderung des Fahrzeugs F. Um eine ausreichende Genauigkeit der auf diese Weise ausgeführten Positionsbestimmung des Fahrzeugs F zu erzielen, sollte der optische Fluss vorteilhafterweise anhand einer Mehrzahl solcher charakteristischer Punkte P bestimmt werden.By Comparison of the two pictures B1, B2 is between that in the first picture B1 characteristic point P (FP1) and in the second image B2, corresponding characteristic point P (FP2) a motion vector BV can be displayed. A shift of the characteristic Point P (FP1), P (FP2) is obtained by shifting an imaging area the camera K caused, which is fixedly arranged on the vehicle F. is. That is, the displacement caused by the motion vector BV between the corresponding characteristic shown Points P (FP1), P (FP2), corresponds to the position change of the vehicle F. To ensure sufficient accuracy on this Way executed position determination of the vehicle F To achieve the optical flow should be advantageous based a plurality of such characteristic points P are determined.
Nachdem die Positionsänderung des Fahrzeugs F und somit die Positionsänderung der Kamera K zwischen den beiden erfassten Bilder B1, B2 ermittelt wurde, wird diese Positionsänderung in der Bildverarbeitungs- und Auswerteeinheit der Bildauswertung der beiden Bilder B1, B2 und der Erstellung der dreidimensionalen Karte aus diesen beiden Bildern B1, B2 zugrunde gelegt. Da die beiden Bilder B1, B2 in unterschiedlichen Positionen FP1, FP2 der Kamera K und somit aus unterschiedlichen Perspektiven erfasst wurden, sind durch Vergleich der beiden Bilder B1, B2 Abmessungen und Proportionen in den Bildern B1, B2 dargestellter Objekte O(FP1), O(FP2) vergleichbar und durch Zugrundelegung der ermittelten Positionsänderung sind daraus reale Abmessungen, Ausformungen und Positionen der erfassten Objekte O ermittelbar und damit die dreidimensionale Karte und das Höhenprofil des erfassten Umfeldes des Fahrzeuges F erstellbar.After this the change in position of the vehicle F and thus the change in position the camera K between the two captured images B1, B2 determined If this position change in the image processing and evaluation unit of the image evaluation of the two images B1, B2 and the creation of the three-dimensional map from these two pictures B1, B2. Since the two pictures B1, B2 in different Positions FP1, FP2 of the camera K and thus from different Perspectives are captured by comparing the two images B1, B2 Dimensions and proportions shown in the pictures B1, B2 Objects O (FP1), O (FP2) comparable and by the basis of the determined position change are real dimensions, Formations and positions of the detected objects O can be determined and thus the three-dimensional map and the elevation profile the detected environment of the vehicle F can be created.
Auf diese Weise werden im hier dargestellten Beispiel eine Höhe und eine Ausformung des Objektes O im Umfeld des Fahrzeugs F, d. h. der Bordsteinkante, ermittelt. Die dargestellte Bordsteinkante weist eine Höhe von beispielsweise 8 cm auf und ist in Richtung einer Fahrebene FE des Fahrzeugs F senkrecht abfallend ausgeformt. Damit stellt das erfasste Objekt O ein Hindernis dar, welches nicht ohne eine Gefahr einer Beschädigung des Fahrzeugs F überfahren werden kann. Es wird daher bei einer Annäherung an das Objekt O, d. h. an die Bordsteinkante, eine optische, akustische und/oder haptische Warnung generiert. Dies kann beispielsweise ein Warnton, eine Vibrationswarnung in einem Fahrersitz, ein sukzessives Aufleuchten einer Mehrzahl von Leuchtmitteln bei zunehmender Annäherung und/oder beispielsweise eine farbliche Markierung des Objektes O auf dem auf der optischen Ausgabeeinheit angezeigten Kamerabild sein.On this way, in the example shown here, a height and a shape of the object O in the vicinity of the vehicle F, d. H. the curb, determined. The curbside shown has a height of, for example, 8 cm and is in the direction a driving plane FE of the vehicle F formed vertically sloping. Thus, the detected object O is an obstacle, which is not run over without risk of damaging the vehicle F. can be. It is therefore when approaching the Object O, d. H. to the curb, an optical, acoustic and / or haptic warning generated. This can be for example Warning sound, a vibration warning in a driver's seat, a successive Illumination of a plurality of bulbs as they approach and / or for example a color marking of the object O. on the camera image displayed on the optical output unit be.
Wäre das erfasste Objekt O beispielsweise ein abgesenkter Bordstein, so wird mittels des Verfahrens eine geringere, gefahrlos überfahrbare Höhe des Objektes O ermittelt, so dass keine Warnung ausgegeben wird. Wäre das Objekt O beispielsweise ein angeschrägter Bordstein, so wird mittels des Verfahrens ermittelt, dass die Bordsteinkante in Richtung der Fahrebene FE des Fahrzeugs F schräg abfallend ausgeformt ist, d. h. eine Steigung von beispielsweise 45° aufweist, welche von dem Fahrzeug F trotz der ermittelten Höhe der Bordsteinkante gefahrlos überfahren werden kann, ohne beispielsweise Reifen oder Felgen des Fahrzeugs F zu beschädigen. Daher würde auch in diesem Fall keine Warnung generiert werden.If the detected object O, for example, a lowered curb, so by means of the method, a lower, safely traversable height of the object O is determined, so that no warning is issued. If, for example, the object O were a bevelled curb, it is determined by means of the method that the curb edge slopes off in the direction of the driving plane FE of the vehicle F is formed falling, ie a slope of for example 45 °, which can be safely run over by the vehicle F despite the determined height of the curb without damaging tires or rims of the vehicle F for example. Therefore, no warning would be generated in this case either.
In einer weiteren Ausführungsform wird diese Ermittlung von Positionen und Abmessungen von Objekten O im Umfeld des Fahrzeugs F mit Sensordaten der Abstandssensoren A kombiniert, so dass eine Redundanz erzielbar ist, physikalisch bedingte Ungenauigkeiten, wie beispielsweise eine Nichterfassung von Objekten O außerhalb des Erfassungsbereichs E der Abstandssensoren A ausgleichbar sind und/oder mittels einer solchen Kombination eine vollständige Umfelderfassung um das Fahrzeug F herum ermöglicht ist.In In another embodiment, this determination of Positions and dimensions of objects O around the vehicle F combined with sensor data of the distance sensors A, so that a Redundancy is achievable, physical inaccuracies, such as non-detection of objects O outside the detection range E of the distance sensors A are compensated and / or by means of such a combination a complete environment detection around the vehicle F is enabled.
In einer weiteren Ausführungsform kann die ermittelte dreidimensionale Umfeldkarte mit den ermittelten Abmessungen und Positionen der Objekte O im Umfeld des Fahrzeugs F, vorzugsweise kombiniert mit den Sensordaten der Abstandssensoren A, auch für einen teil- oder vollautomatischen Einparkvorgang des Fahrzeugs F genutzt werden, indem anhand ermittelter Umfelddaten mittels einer Steuereinheit ein Antriebsstrang, eine Lenkung und/oder ein Bremssystems des Fahrzeugs F angesteuert werden. Ein solcher teil- oder vollautomatischer Einparkvorgang ist durch Verwendung von mittels des Verfahrens ermittelter Umfelddaten wesentlich exakter durchführbar.In In another embodiment, the determined three-dimensional Environment map with the determined dimensions and positions of the objects O in the environment of the vehicle F, preferably combined with the sensor data the distance sensors A, also for a partially or fully automatic Einparkvorgang of the vehicle F be used by means of determined Environment data by means of a control unit a powertrain, a Steering and / or a braking system of the vehicle F can be controlled. Such a partially or fully automatic parking is through Use of determined by means of the method environment data essential more accurate.
- AA
- Abstandssensorendistance sensors
- B1, B2B1, B2
- Bilderimages
- BVBV
- Bewegungsvektormotion vector
- Ee
- Erfassungsbereichdetection range
- FF
- Fahrzeugvehicle
- FEFE
- Fahrebenetravel plane
- FP1, FP2FP1, FP2
- Fahrzeugpositionenvehicle positions
- KK
- Kameracamera
- O, O(FP1), O(FP2)O, O (FP1), O (FP2)
- Objektobject
- P, P(FP1), P(FP2)P, P (FP1), P (FP2)
- charakteristischer Punktcharacteristically Point
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 2002/0005778 A1 [0002] US 2002/0005778 A1 [0002]
- - US 2006/0055776 A1 [0003] US 2006/0055776 A1 [0003]
- - US 2007/0206833 A1 [0004] US 2007/0206833 A1 [0004]
- - US 2007/0285217 A1 [0005] US 2007/0285217 A1 [0005]
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009016562A DE102009016562A1 (en) | 2009-04-06 | 2009-04-06 | Method for identifying objects in periphery of vehicle, involves recording image of periphery of vehicle at vehicle position, and another image of periphery of vehicle at another vehicle position by camera arranged on vehicle |
PCT/EP2010/002097 WO2010115580A1 (en) | 2009-04-06 | 2010-04-01 | Method and apparatus for recognizing objects |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009016562A DE102009016562A1 (en) | 2009-04-06 | 2009-04-06 | Method for identifying objects in periphery of vehicle, involves recording image of periphery of vehicle at vehicle position, and another image of periphery of vehicle at another vehicle position by camera arranged on vehicle |
Publications (1)
Publication Number | Publication Date |
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DE102009016562A1 true DE102009016562A1 (en) | 2009-11-19 |
Family
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DE102009016562A Withdrawn DE102009016562A1 (en) | 2009-04-06 | 2009-04-06 | Method for identifying objects in periphery of vehicle, involves recording image of periphery of vehicle at vehicle position, and another image of periphery of vehicle at another vehicle position by camera arranged on vehicle |
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DE (1) | DE102009016562A1 (en) |
WO (1) | WO2010115580A1 (en) |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010013093A1 (en) * | 2010-03-29 | 2011-09-29 | Volkswagen Ag | Method for creating model of surrounding area of motor vehicle i.e. car, involves determining whether card cells are loaded with object represented by three- dimensional structures |
DE102010013815A1 (en) * | 2010-04-03 | 2011-10-06 | Volkswagen Aktiengesellschaft | Method for determining and tracking position of objects in environment of motor car, involves detecting spacing between feature points related to object, and determining object distance from image based on measurement of size of object |
EP2317338A3 (en) * | 2009-10-29 | 2011-10-12 | Robert Bosch GmbH | Method for recognising objects of low height |
DE102010031040A1 (en) * | 2010-07-07 | 2012-01-12 | Robert Bosch Gmbh | Method for assisting driver of motor car during driving maneuver, involves presenting non-detected objects or non-detected parts of objects different to detected objects or detected parts of objects |
DE102010063742A1 (en) * | 2010-12-21 | 2012-06-21 | Deniz Yilmaz | motor vehicle |
DE102011014699A1 (en) * | 2011-03-22 | 2012-09-27 | Audi Ag | Method for operating driver assistance system for protection of motor car, involves determining recording locations of object from different positions of motor car based on three-dimensional positional data and endangerment value |
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