DE102015105529A1 - A method of transforming an image of a virtual camera, computer program product, display system and motor vehicle - Google Patents

A method of transforming an image of a virtual camera, computer program product, display system and motor vehicle

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Publication number
DE102015105529A1
DE102015105529A1 DE102015105529.5A DE102015105529A DE102015105529A1 DE 102015105529 A1 DE102015105529 A1 DE 102015105529A1 DE 102015105529 A DE102015105529 A DE 102015105529A DE 102015105529 A1 DE102015105529 A1 DE 102015105529A1
Authority
DE
Germany
Prior art keywords
image
motor vehicle
image sensor
transformation
virtual camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
DE102015105529.5A
Other languages
German (de)
Inventor
Huanqing Guo
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.)
Connaught Electronics Ltd
Original Assignee
Connaught Electronics Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Connaught Electronics Ltd filed Critical Connaught Electronics Ltd
Priority to DE102015105529.5A priority Critical patent/DE102015105529A1/en
Publication of DE102015105529A1 publication Critical patent/DE102015105529A1/en
Application status is Pending legal-status Critical

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Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00Geometric image transformation in the plane of the image
    • G06T3/0012Context preserving transformation, e.g. by using an importance map
    • G06T3/0018Fisheye, wide-angle transformation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00Optical viewing arrangements
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/003D [Three Dimensional] image rendering
    • G06T15/10Geometric effects
    • G06T15/20Perspective computation
    • G06T15/205Image-based rendering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105Details 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60Details 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
    • B60R2300/607Details 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

Abstract

The invention relates to a method for transforming an image (16), in which a surrounding area (13) of a motor vehicle (1) at least partially through the image (16) from the perspective of a virtual camera (14) virtually arranged in the surrounding area (13). is determined, and the image (16) by the transformation of a plurality of real images, which is provided by a plurality of real cameras (5, 6, 7, 8) of the motor vehicle (1) is determined, the transformation with respect virtual image sensor (21) of the virtual camera (14) is performed, wherein for the virtual image sensor (21) an image sensor plane (22) having at least one predetermined curvature (23) is predetermined.

Description

  • The invention relates to a method for transforming an image, in which an environmental region of a motor vehicle is at least partially represented by the image from the perspective of a virtually arranged in the surrounding area virtual camera, and the image by the transformation of a plurality of real images, which by means of a Is provided plurality of real cameras of the motor vehicle is determined. The invention also relates to a computer program product, a display system for a motor vehicle, as well as a motor vehicle with a display system.
  • A method for transforming an image in which a surrounding area of a motor vehicle is at least partially represented by the image from the perspective of a virtual camera virtually arranged in the surrounding area are known from the prior art.
  • So will in the DE 10 2013 013 364 A1 a method for low distortion mapping of environmental image data provided by a plurality of cameras arranged on a motor vehicle is provided.
  • Furthermore, in the US 2011/0032357 A1 an image processing apparatus is described, with which an image of a surrounding area of a motor vehicle is taken. The captured image is converted to an image viewed from the perspective of a virtual line of sight. The virtual line of sight travels from a predetermined position in the surrounding area in a predetermined direction.
  • Furthermore, it is known that an image is provided with a virtual camera. The virtual camera can then usually be arranged arbitrarily around a motor vehicle fictitious. The image is provided by transforming real images. The real images are usually provided by a plurality of real cameras of the motor vehicle. By the majority of real cameras usually a surrounding area of the motor vehicle is completely detected. Through the virtual camera, the real images can be selected and transformed so that the image is provided from the perspective of the virtual camera. The virtual camera in the surrounding area of the motor vehicle is thus not actually existing, but rather describes the transformation and selection of the real images, so that the desired perspective of the virtual camera is shown by the image. Typically, providing the image is determined by a transformation involving one translation and multiple rotations. Thus, for example, each of the real images is transformed from a camera coordinate system of the respective real camera into a motor vehicle coordinate system, and finally the position of the virtual camera can be determined in the motor vehicle coordinate system.
  • It is an object of the invention to provide a method, a computer program product, a display system and a motor vehicle, with which or in which the image of the virtual camera can be provided by transforming clearer and closer to reality.
  • This object is achieved by a method by a computer program product, by a display system and by a motor vehicle with the features according to the respective independent claims.
  • In a method according to the invention, an image is transformed. An environment region of a motor vehicle is represented at least partially by the image from the perspective of a virtual camera virtually arranged in the surrounding region. The image is determined by the transformation from a plurality of real images. The real images are provided by means of a plurality of real cameras of the motor vehicle. As an essential idea of the invention it is provided that the transformation is carried out with respect to a virtual image sensor of the virtual camera, wherein an image sensor plane with at least one predetermined curvature is specified for the virtual image sensor.
  • The method according to the invention makes it possible for the image to be provided in a more vivid and realistic manner from the perspective of the virtual camera.
  • The transformation that provides the image uses a camera model of the virtual camera. For example, this camera model may be described as a pinhole camera model for ease of explanation. In this Lochkameramodell an image plane and an object plane are present. The image plane is described by the image plane, and the environment of the motor vehicle is described by the object plane. In the present case, the image plane of the camera model is described in particular as the image sensor plane of the virtual image sensor of the virtual camera. In the prior art, the image plane is described as plan or flat or not curved.
  • By specifying the image sensor plane or the image plane with the predetermined curvature, the real world can be modeled in a more vivid and realistic manner. The Image sensor plane has in particular a plurality of predetermined curvatures. The predetermined curvatures are preferably curved in different ways. Due to the clearer and more realistic modeling, the picture can also be provided in a more vivid and realistic way. Through the image sensor plane with the predetermined curvature, a uniform scanning of the surrounding area can be modeled. As a result, for example, regions at the edge of the image can be provided by the transformation with a higher or at least as high geometric resolution as the central regions of the image. This corresponds to the presence of the real world or the surrounding area of the motor vehicle. The consideration of the curved image sensor plane of the virtual camera can also take place if the real images are provided with a planar real image sensor of the real cameras. As a result of the transformation as a function of the image sensor plane with the predetermined curvature, the image can therefore also be subsequently provided in a realistic manner based on the realistic modeling of the camera model of the virtual camera.
  • It is preferably provided that the predetermined curvature of the image sensor plane is specified with a transformation function by which the transformation is described. The transformation function can thus be used to determine the image of the image as a function of the image sensor plane with the predetermined curvature. Thus, the transformation function is described for example with a model or with a description of the curved image sensor plane or the image sensor plane with the predetermined curvature. The transformation function can, for example, also be subsequently extended by the model which describes the curved image sensor or the curved image sensor plane. It is therefore advantageous that the image can be provided simply and effectively on the basis of the transformation function with the modeling of the curved image sensor plane.
  • Furthermore, it is preferably provided that the transformation function is dependent on external dimensions of the motor vehicle and / or dimensions of the surrounding area partially shown in the image and / or a shape of the surrounding area partially shown in the image and / or distortion of the image and / or in the image Image presented objects of the surrounding area is specified. Thus, the transformation function and thus the model of the image sensor plane with the predetermined curvature can be adjusted depending on a variety of conditions. The image can therefore be provided in a realistic and vivid manner for the respective surrounding area, as appropriate to the situation.
  • In particular, it is provided that a geometric resolution of the image is determined by the predetermined curvature of the image sensor plane. The geometric resolution can also be described as ground pixel resolution (GSD - ground sampling distance). The geometric resolution describes a distance between centers of pixels of the image, as it is on the bottom of the real world, so the surrounding area. The geometric resolution of the image thus describes in which distance the surrounding area is scanned by the image or by the pixels of the image. Thus, the geometric resolution is high for a dense scan of the surrounding area, while the geometric resolution is low for a less dense scan of the surrounding area. The geometric resolution of the image is thus in particular independent of the number of pixels of the image. It is advantageous that a varied adaptation of the geometric resolution of the image can be performed effectively and simply by the predetermined curvature. However, the geometric resolution of the image is also, in particular, independent of the geometric resolution of the real images. For example, an interpolation method may be performed if the geometric resolution of the image is to be higher for certain regions of the image than provided by the geometric resolution of the real image.
  • It is preferably provided that the geometric resolution of the image is determined by the transformation as a function of the image sensor plane having the predetermined curvature in an edge region of the image at least as high as in a central region of the image. In particular, areas of the image which are arranged on a left and / or right and / or upper and / or lower side of the image are therefore described by the edge area. The central area particularly describes areas of the image which are arranged in the middle and thus not directly at the edge of the image. By considering the at least the same high geometric resolution in the edge region as in the central region during the transformation, the image can be determined in a more vivid and realistic manner.
  • Furthermore, it can be provided that the image is shifted and / or rotated and / or distorted by the transformation in a coordinate system of the virtual camera. The image can thus be present in the coordinate system of the virtual camera and manipulated there. The manipulation of the image, that is, for example, the shifting and / or the rotation and / or the distortion, can thus likewise be carried out as a function of the image sensor plane with the predetermined curvature. In the transformation in the Coordinate system of the virtual camera, the position of the virtual camera in the motor vehicle coordinate system is maintained in particular unchanged. The coordinate system of the virtual camera can thus be present, for example, as a coordinate system attached to the motor vehicle coordinate system.
  • Furthermore, it can be provided that an area from the image is selected by the transformation as a function of the image sensor plane with the predetermined curvature and / or the image is expanded on the basis of information from the real images. For example, selecting or expanding may also be described as zooming in and zooming out, respectively. The selection and / or the widening are therefore also carried out in particular also as a function of the image sensor plane with the predetermined curvature. The image can thus be displayed and provided in a simpler and more effective manner even after the selection and / or expansion in a more vivid and realistic manner.
  • It is preferably provided that a region of the image representing the motor vehicle is excluded from the transformation as a function of the image sensor plane having the predetermined curvature. As a result, the image can be provided such that the area of the image representing the motor vehicle is displayed undistorted. The exclusion of the area representing the motor vehicle can in particular be provided specifically by the transformation for the virtual camera of the motor vehicle. Thus, the transformation for excluding the area representing the motor vehicle is in particular designed specifically for a virtual camera from the field of automotive engineering. By excluding the motor vehicle from the transformation depending on the image sensor plane with the predetermined curvature, the image with the motor vehicle shown therein can also be provided in a more vivid and realistic manner. The motor vehicle is therefore thus not shown distorted in the image.
  • In particular, it is provided that the surrounding area in the image is provided by the transformation in a bowl-like representation. Through the bowl-like presentation, the image can be adapted to the real world and provided vividly. The bowl-like representation is characterized in that the image is provided as if the distance from the virtual camera to an object plane or the surrounding area at each point of the object plane is the same. To make this possible, the geometric resolution of the image is adjusted in areas. For example, the border area of the image can be transformed with an equally high geometric resolution than is done for the central area of the image. Overall, the bowl-like presentation again allows a more vivid and more realistic representation of the surrounding area in the image. The image representing the surrounding area in a bowl-like manner is output in particular on a flat, non-dish-type display unit of the motor vehicle.
  • The invention also relates to a computer program product which is designed to carry out a method according to the invention when the computer program product is executed on a programmable computer device.
  • The invention comprises a display system with an evaluation unit, a display unit and at least one real camera, wherein the display system is designed to perform a method according to the invention. The evaluation unit can for example be integrated in the real camera and / or in the display unit or be present as a separate unit.
  • An inventive motor vehicle, in particular a passenger car, comprises an inventive display system or an advantageous embodiment thereof.
  • The preferred embodiments presented with reference to the method according to the invention and their advantages apply correspondingly to the computer program product according to the invention, the display system according to the invention and to the motor vehicle according to the invention.
  • The terms "top", "bottom", "front", "rear", "horizontal", "vertical", "depth direction", "width direction", "height direction", etc. are the intended use and intended arrangement of the virtual Camera or the real camera or the motor vehicle and at a given before the virtual camera or the real camera or the motor vehicle and given in the direction of the virtual camera or the real camera or the motor vehicle given positions and orientations.
  • Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the respectively indicated combination but also in other combinations or in isolation, without the scope of To leave invention. Thus, embodiments of the invention as encompassed and disclosed to view, which are not explicitly shown and explained in the figures, however, emerge and can be generated by separated combinations of features from the explanations explained. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated independent claim.
  • The embodiments of the invention will be explained in more detail with reference to schematic drawings.
  • Showing:
  • 1 a schematic plan view of an embodiment of a motor vehicle according to the invention with a display system;
  • 2 a schematic representation of a virtual arrangement of a virtual camera in a surrounding area of the motor vehicle;
  • 3 a schematic representation of an image from the perspective of the virtual camera;
  • 4 a schematic representation of a camera model of the virtual camera with a virtual image sensor;
  • 5 a schematic representation of an image sensor plane with a predetermined curvature of the virtual image sensor of the virtual camera;
  • 6 a schematic representation of a known image of a known virtual camera with an unbroken image sensor plane;
  • 7 a schematic representation of the image of the virtual camera with the image sensor plane with the predetermined curvature;
  • 8th a flow diagram of a method according to the invention;
  • 9 a further schematic representation of the known image of the known virtual camera with an un-curved image sensor plane; and
  • 10 a further schematic representation of the image of the virtual camera with the image sensor plane with the predetermined curvature.
  • In 1 is a schematic plan view of a motor vehicle 1 with a display system 2 represented according to an embodiment of the invention. The display system 2 includes in the exemplary embodiment an evaluation unit 3 and a display unit 4 , Furthermore, the display system includes 2 in the embodiment, a first real camera 5 , a second real camera 6 , a third real camera 7 and a fourth real camera 8th , According to the embodiment, the first real camera 5 on a front 9 of the motor vehicle 1 arranged, the second real camera 6 is on a right side 10 of the motor vehicle 1 arranged, the third real camera 7 is at a stern 11 of the motor vehicle 1 arranged and the fourth real camera 8th is on a left side 12 of the motor vehicle 1 arranged. The arrangement of real cameras 5 . 6 . 7 . 8th However, is possible in many ways, but preferably so that the motor vehicle 1 and / or a surrounding area 13 of the motor vehicle 1 at least partially.
  • The real cameras 5 . 6 . 7 . 8th In particular, they have a wide detection range, which can be greater than 180 °, for example. The wide detection range can, for example, by a fisheye lens of a lens of the real camera 5 . 6 . 7 . 8th to be provided. So can the display system 2 For example, be designed as environment vision system (CMS - camera monitoring system) or electronic rearview mirror or as another driver assistance system of the motor vehicle 1 in which the surrounding area 13 is at least partially recorded.
  • The real camera 5 . 6 . 7 . 8th is a complementary metal-oxide semiconductor (CMOS) camera or a charge coupled device (CCD) camera or any image capture device that captures a frame from the surrounding area 13 and / or the motor vehicle 1 can provide. The real camera 5 . 6 . 7 . 8th is a video camera which continuously provides an image sequence of frames. The evaluation unit 3 then processes the image sequence of the individual images, for example in real time. The evaluation unit 3 can, for example, within the respective real camera 5 . 6 . 7 . 8th or within the display unit 4 be arranged. The evaluation unit 3 but also outside the respective camera 5 . 6 . 7 . 8th or the display unit 3 at any other position within the motor vehicle 1 be arranged and thus as the real camera 5 . 6 . 7 . 8th and to the display unit 4 be formed separate unit.
  • The display unit 4 may for example be designed as a liquid crystal display (LCD - liquid crystal display). The display unit 4 can be varied in the motor vehicle 1 be arranged, but preferably so that a user of the motor vehicle 1 an obstacle-free view of the display unit 4 can judge.
  • Through the real cameras 5 . 6 . 7 . 8th a plurality of real images are recorded. The real pictures show the surrounding area 13 at least partly from the perspective of the respective real one camera 5 . 6 . 7 . 8th , Preferably, the real images are recorded at least partially overlapping.
  • 2 shows a virtual arrangement of a virtual camera 14 in the surrounding area 13 of the motor vehicle 1 , The virtual camera 14 can be varied in the surrounding area 13 to be ordered. Preferably, the virtual camera 14 at given virtual camera positions 15 arranged. Depending on the respective virtual camera position 15 the virtual camera 14 and their orientation becomes the perspective of the virtual camera 14 on the surrounding area 13 and / or the motor vehicle 1 certainly. The perspective of the virtual camera 14 can for example be adjusted in real time or within a predetermined computing time.
  • 3 shows a picture 16 the virtual camera 14 , The picture 16 So it's from the perspective of the virtual camera 14 certainly. Determining the image 16 takes place on the basis of the majority of real images. Thus, depending on a transformation, the image can be transformed by the real images 16 be determined. The picture 16 is thus determined by means of the transformation by information from the real images. By changing the virtual camera position 15 leaves the picture 16 change manifold. Likewise, for example, a view of the motor vehicle 1 and / or the surrounding area 13 by changing the virtual camera position 15 be adapted in many ways.
  • The picture 16 as it is in 3 is shown by way of example, is preferably on the display unit 4 displayed. Likewise, the image is preferred 16 a first image overlay element 17 and a second image overlay element 18 on. Through the first image overlay element 17 For example, an elevation angle or a tilt angle of the virtual camera 14 perpendicular to a road surface of the surrounding area 13 to be discribed. In addition, through the second image overlay element 18 an azimuth angle of the virtual camera 14 with respect to an orientation of the longitudinal axis of the motor vehicle 1 to be discribed.
  • 4 shows a camera model 19 the virtual camera 14 , The camera model 19 is simplified for the sake of descriptive description shown as Lochkameramodell. Additionally shows 4 a well-known camera model 20 a known camera or a known virtual camera. Both the camera model 19 the virtual camera 14 , as well as the well-known camera model 20 the known virtual camera, have a projection center P on. The virtual camera 14 points in the camera model 19 a virtual image sensor 21 with an image sensor plane 22 on. The image sensor level 22 of the virtual image sensor 21 comes with a predetermined curvature 23 specified. In the known camera model 20 the known virtual camera becomes a known image sensor plane 24 a known virtual image sensor 25 straight or not curved predetermined.
  • The picture 16 , which with the image sensor level 22 and the predetermined curvature 23 is determined extends according to 4 from A2 to B2. Through the picture 16 which extends from A2 to B2 becomes in the surrounding area 13 an area is shown which extends from M2 to N2. From M2 to N2 there is a first distance d2. A well-known picture, which with the well-known camera model 20 is determined, extends from A1 to B1 and provides a region of the surrounding area 13 which extends from M1 to N1. From M1 to N1 there is a second distance d1. The first distance d2 is smaller than the second distance d1. So if the distance from A1 to B1 is the same as the distance from A2 to B2, the picture will show 16 depending on the predetermined curvature 23 a higher geometric resolution of the surrounding area 13 provided as by a known image of the known virtual camera according to the known camera model 20 is determined. In other words, the sampling of the range from M1 to N1 thus takes place in larger steps than is done from M2 to N2. In particular, the known image and the image have 16 according to 4 essentially an equal number of pixels. Thus, through the virtual camera 14 a denser scan of the surrounding area 13 as done in the known virtual camera. At the virtual camera 14 stand for a smaller area of the surrounding area 13 , namely from M2 to N2 as many pixels available, as in the known camera for a larger area of the surrounding area 13 , from M1 to N1, is the case.
  • By adjusting the curvature can be the geometric resolution of the image 16 also for different areas of the picture 16 be determined differently. For example, a border area 26 of the picture 16 be determined with a higher geometric resolution than this for a central area 27 of the picture 16 the case is. The geometric resolution of the picture 16 However, it can be varied for different areas of the picture 16 be determined.
  • 5 shows the image sensor plane 22 and the known image sensor plane 24 , The image sensor level 22 of the virtual image sensor 21 has the at least one predetermined curvature 23 on. According to the embodiment, the image sensor plane 22 curved several times. The image sensor level 22 thus has several curvatures. The well-known The image sensor plane 24 the known virtual image sensor 25 On the other hand, it is plan or just trained.
  • The predetermined curvature 23 the image sensor level 22 can be described mathematically as follows: Image sensor plane 22 = bx 2 + by 2 + cx + dy, where a, b, c, d variable parameters or variables for adjusting the predetermined curvature 23 are. The values of the variable parameters preferably range between -0.5 and 0.5. To adapt the variable parameters a, b, c, d, for example, a field of view, a pixel density, a main focus area and / or a distortion of the image 16 be used. Furthermore, the variable parameters a, b, c, d can also be determined by observation and visual quality determination. In addition, x and y describe Cartesian coordinates in the coordinate system of the virtual camera.
  • Furthermore, the predetermined curvature 23 the image sensor level 22 also be predefined for example with the following mathematical description: Image sensor plane 22 = ax 4 + by 4 + cx + dy.
  • The equation becomes the area of the image sensor plane 22 described in three-dimensional space. The predetermined curvature 23 can therefore, as shown, for example, be given by means of a polynomial fourth degree.
  • 6 shows a familiar picture 28 , which according to the well-known camera model 20 and the known image sensor plane 24 the known virtual image sensor 25 is determined.
  • 7 shows the picture 16 which by means of the virtual camera 14 and the image sensor plane 22 with the predetermined curvature 23 is determined. The variable parameters a, b, c, d for determining the predetermined curvature 23 the image sensor level 22 are thus in the case of the picture 16 according to 7 not all zero. If the selected variable parameters a, b were zero, there would be no curvature and the known image sensor plane would be present 24 in front.
  • 8th shows a flowchart of a method according to the invention for transforming the image 16 , In a step S1, parameters of the transformation are initially determined. In a step S2, parameters of the image 16 to the variable parameters a, b, c, d adapted to the predetermined curvature 23 the image sensor level 22 pretend. In addition, in a step S3, the image is adjusted 16 or the virtual camera 14 regarding the virtual camera position 15 carried out. Thus, in step S3, for example, a shifting and / or rotating and / or distortion of the image 16 and / or zooming in and / or zooming out into the surrounding area 13 or from the surrounding area 13 carried out. Continues the picture 16 qualitatively adjusted in a step S7. In a step S4, the image becomes 16 depending on the parameters determined in step S2, step S3 and step S7. In addition, in step S4, a quality of the image 16 rated. The rating of the quality of the picture 16 For example, it can be automated and / or visual. In a step S5 it is decided whether the quality of the image 16 is accepted. Will the quality of the picture 16 accepted, so will the picture 16 in a step S6 on the display unit 4 output. Will the quality of the picture 16 is not accepted in the step S5, the steps S2 and S3 follow, and the respective parameters of the steps S2 and S3 are adjusted depending on the result of the step S4.
  • 9 shows the familiar picture 28 , In the known picture 28 according to 9 are the variable parameters or the variables a and b equal to zero, while c and d are set immutable.
  • 10 shows the picture 16 , In the picture 16 according to 10 the variable parameters a and b are equal to -0.08, while the variable parameters c and d are as in 9 fixed immutable. The picture 16 according to 10 also has the border area 26 and the central area 27 on. The central area 27 is in the middle of the picture 16 arranged while the border area 26 outside the middle of the picture 16 is arranged.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • DE 102013013364 A1 [0003]
    • US 2011/0032357 A1 [0004]

Claims (12)

  1. Method for transforming an image ( 16 ), in which a surrounding area ( 13 ) of a motor vehicle ( 1 ) at least partially through the image ( 16 ) from the perspective of a virtual in the environment area ( 13 ) arranged virtual camera ( 14 ) and the image ( 16 ) by the transformation from a plurality of real images, which by means of a plurality of real cameras ( 5 . 6 . 7 . 8th ) of the motor vehicle ( 1 ), characterized in that the transformation with respect to a virtual image sensor ( 21 ) of the virtual camera ( 14 ), wherein for the virtual image sensor ( 21 ) an image sensor plane ( 22 ) with at least one predetermined curvature ( 23 ) is given.
  2. Method according to claim 1, characterized in that the predetermined curvature ( 23 ) of the image sensor level ( 22 ) with a transformation function by which the transformation is described.
  3. Method according to Claim 2, characterized in that the transformation function depends on the external dimensions of the motor vehicle ( 1 ) and / or dimensions of the image ( 16 ) partially represented environmental area ( 13 ) and / or a shape of the one in the picture ( 16 ) partially represented environmental area ( 16 ) and / or distortion of the image ( 16 ) and / or in the picture ( 16 ) specified objects of the surrounding area is specified.
  4. Method according to one of the preceding claims, characterized in that by the predetermined curvature ( 23 ) of the image sensor level ( 22 ) a geometric resolution of the image ( 16 ) is determined.
  5. Method according to claim 4, characterized in that the geometric resolution of the image ( 16 ) by the transformation depending on the image sensor level ( 22 ) with the predetermined curvature ( 23 ) in a peripheral area ( 26 ) of the picture ( 16 ) at least as high as in a central area ( 27 ) of the picture ( 16 ) is determined.
  6. Method according to one of the preceding claims, characterized in that the image ( 16 ) by the transformation in a coordinate system of the virtual camera ( 14 ) is shifted and / or rotated and / or distorted.
  7. Method according to one of the preceding claims, characterized in that the transformation depends on the image sensor plane ( 22 ) with the predetermined curvature ( 23 ) an area from the picture ( 16 ) and / or the image ( 16 ) is extended on the basis of information from the real images.
  8. Method according to one of the preceding claims, characterized in that a motor vehicle ( 1 ) representing area of the image ( 16 ) of the transformation depending on the image sensor level ( 22 ) with the predetermined curvature ( 23 ) is excluded.
  9. Method according to one of the preceding claims, characterized in that the surrounding area ( 13 ) in the picture ( 16 ) is provided by the transformation in a bowl-like representation.
  10.  A computer program product for carrying out a method according to any one of the preceding claims when the computer program product is executed on a programmable computer device.
  11. Display system ( 2 ) with an evaluation unit ( 3 ), a display unit ( 4 ) and at least one real camera ( 5 . 6 . 7 . 8th ), which is adapted to carry out a method according to one of claims 1 to 9.
  12. Motor vehicle ( 1 ) with a display system ( 2 ) according to claim 11.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018102051A1 (en) 2018-01-30 2019-08-01 Bayerische Motoren Werke Aktiengesellschaft As an as display system

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