DE102020210637A1 - Computer program, method and device for monitoring an environment - Google Patents

Abstract

Embodiments provide a computer program, method (100) and apparatus (200) for monitoring an environment. The method (100) includes capturing (110) first image data of at least one area of the environment using a mobile camera system at a first point in time. In addition, the method includes detecting (120) a positioning of the camera system in the environment at which the camera system is located when the first image data is captured. In addition, the method includes storing (130) the first image data in an entry of an electronically available map of the environment associated with the detected positioning of the camera system. The method also includes capturing (140) second image data of the area by means of the camera system at a second point in time that is later than the first and storing (150) the second image data in the entry.

Description

The present invention relates to a computer program, a method and an apparatus for monitoring an environment. In particular, but not exclusively, exemplary embodiments relate to a concept for determining an availability of areas in industrial production plants.

In a factory, a warehouse or, for example, in outdoor storage facilities, objects (machines, shelves, containers, ...) can often be rearranged. This takes place, for example, in the course of adjustments, conversion measures or as part of normal daily work. To plan the use of areas or rooms in factories, warehouses or storage facilities, it may therefore be necessary to monitor them.

The document US 2018/0143624 A1 describes a concept for determining a position of storage containers using a 3D camera.

The document DE 10 2018 205 964 A1 describes a concept for navigating an autonomous industrial truck using a distance meter mounted on the industrial truck for detecting a state of an environment.

document US 2014/0232826 A1 discloses a concept for detecting objects in a warehouse.

The concepts mentioned above allow object positions in an environment to be detected. However, these concepts do not take into account the detection of temporal changes in the environment for assessing the availability of areas in the environment.

Therefore, there is a need for an improved concept for monitoring an environment.

The subject matter of the independent and dependent claims takes this need into account.

Embodiments are based on the core idea that image information/image data can be captured at different points in time about one or more areas within the monitored environment and mapped to a position within the environment in order to use corresponding images of the image information/image data, for example, to show a current status /Status and/or availability of the areas (e.g. for storage purposes or project purposes).

Example embodiments provide a method for monitoring an environment. The method includes capturing first image data of at least one area of the surroundings using a mobile camera system at a first point in time. In addition, the method includes detecting a positioning of the camera system in the area where the camera system is located when the first image data is detected. In addition, the method includes storing the first image data in an entry of an electronically available map of the environment associated with the detected positioning of the camera system. The method also includes capturing second image data of the area by means of the camera system at a second point in time that is later than the first and storing the second image data in the entry. In addition, the method allows changes in the recorded area to be detected and the change to be displayed.

For example, the image data indicates whether the captured area is available for storage or other purposes. Accordingly, the method allows, for example, using the first and second image data to determine availability, particularly for planning purposes, temporal availability of the captured area. In particular, the method allows an at least partially automated determination of the availability, which results, for example, in cost advantages and time savings compared to determination of the availability performed exclusively by people.

In some embodiments, the environment includes an interior space. The interior is, for example, a factory, storage and/or production hall. Other alternative examples of interior space include office space, laboratory space, and indoor security areas. In particular, access to interior spaces can be restricted, so that only selected persons, for example appropriately trained persons, have access to such interior spaces. In particular, the proposed method permits automated monitoring, which can replace monitoring that is only carried out by people. The method can therefore be advantageous over a concept for monitoring by people, particularly when monitoring interior spaces to which access restrictions apply to people.

In some exemplary embodiments, the method includes capturing the second image data when the camera system is located at the captured position.

This enables, for example, automated position-dependent acquisition of the (second) image data.

In some embodiments, the camera system is mounted on a vehicle. The vehicle is, for example, an industrial truck. This allows the camera system to be mobile. Industrial trucks can be used in the monitored environment, for example for transport purposes. Installing the camera system on such a vehicle saves, for example, using separate vehicles to transport the camera system. In other exemplary embodiments, the vehicle may be a people-moving vehicle or a transport vehicle.

In some exemplary embodiments, the vehicle is designed as an at least partially automatically controlled vehicle.

For example, the vehicle is able to move automatically within the monitored environment. This enables further automated monitoring of the environment.

In some exemplary embodiments, the first and/or second image data include at least one panorama image or one circular image. For example, a panoramic image is considered to be a round image, which depicts a recording angle of 360° around the camera system. The panoramic image or the circular image is based, for example, on a number of individual images that have been taken. The area displayed on the panorama image or round image may be larger than an area displayed on a single image. As a person skilled in the art will understand, a number of recordings required for monitoring the area can thus be reduced in order to monitor the area using recordings of panoramic images.

In some exemplary embodiments, the detection of the positioning includes detecting at least one signal from one or more transmitters installed in the area using a receiver that is fixed relative to the camera system and determining the positioning based on the signal.

The transmitters include, for example, a Bluetooth or WLAN radio interface for sending the signal. Using, for example, the so-called "fingerprint method" the position of the receiver can be deduced based on the signal from the transmitter. Due to the fixed arrangement of the receiver relative to the camera system, the position of the camera system can be inferred based on the position of the receiver. Alternatively, an RFID (radio-frequency identification)-based location can be used to determine the position. The camera system can be located in this way, particularly indoors, in which at least in part there is not a sufficient GPS signal available for satellite-based location.

In some embodiments, storing the second image data includes storing the second image data in the entry along with the first image data.

In this way, any changes over time within the area covered by the first and second image data can be determined on the basis of the entry. Based on the changes determined over time, it is also possible to conclude whether the area covered by the first and second image data is available over time.

In some exemplary embodiments, the camera system includes a first and at least one second mobile camera. Furthermore, the method can include capturing the first image data of the area using the first camera, capturing a camera position of the first camera at which the first camera is located when capturing the first image data, and storing the first image data in one of the captured camera positions of the first Include entry in the map associated with the camera. The method can also include capturing the second image data using the second camera and storing the second image data in the entry.

As will be appreciated by those skilled in the art, improved surveillance is possible using multiple cameras to monitor the environment. For example, a larger area can be monitored/captured in the same time as with a single camera.

In some example embodiments, the first camera is mounted on a first vehicle and the second camera is mounted on a second vehicle. As previously mentioned, the first and the second vehicle can be industrial trucks and, in particular, at least partially automatically controlled vehicles. Because the first and second cameras are mounted on separate vehicles, they can be moved separately through the environment, for example for more efficient monitoring or for monitoring separate areas within the environment.

Embodiments provide a computer program with program code for performing the method described herein when the program code is executed on a computer, a processor, a control module or a programmable hardware component.

Embodiments provide an apparatus for monitoring an environment. The device comprises at least one interface for communication and a data processing circuit for carrying out the method described herein.

• 1 zeigt ein Ablaufdiagramm eines Ausführungsbeispiels eines Verfahrens zum Überwachen einer Umgebung;
• 2 zeigt ein Blockschaltbild eines Ausführungsbeispiel einer Vorrichtung zum Überwachen einer Umgebung;
• 3 zeigt ein Fahrzeug zum Überwachen einer Umgebung; und
• 4 zeigt schematisch ein Vorgehen zum Erfassen von Bilddaten mehrerer Bereiche.

Further advantageous exemplary embodiments are described in more detail below with reference to the exemplary embodiments illustrated in the drawings, to which exemplary embodiments are generally not limited. Show it:

• 1 shows a flowchart of an embodiment of a method for monitoring an environment;
• 2 shows a block diagram of an embodiment of a device for monitoring an environment;
• 3 shows a vehicle for monitoring an environment; and
• 4 shows schematically a procedure for acquiring image data of several areas.

Various embodiments will now be described in more detail with reference to the accompanying drawings, in which some embodiments are illustrated. Optional features or components are shown in dashed lines.

Although example embodiments can be modified and altered in various ways, example embodiments are illustrated in the figures and are described in detail herein. It should be understood, however, that example embodiments are not intended to be limited to the precise forms disclosed, but rather that example embodiments are intended to cover all functional and/or structural modifications, equivalents, and alternatives falling within the scope of the invention.

Note that an element referred to as being “connected” or “coupled” to another element may be directly connected or coupled to the other element, or there may be intervening elements. On the other hand, when an element is said to be "directly connected" or "directly coupled" to another element, there are no intervening elements present. Other terms used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," etc.).

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. Furthermore, it is clarified that the expressions such as "includes", "including", "comprises", "comprises", "comprising" and/or "comprising" as used herein, the presence of specified characteristics, integers, increments, specify workflows, items and/or components, but do not exclude the presence or addition of one or more features, integers, steps, workflows, items, components and/or groups thereof.

1 FIG. 10 shows a flow diagram of an embodiment of a method 100 for monitoring an environment. The method 100 includes capturing 110 first image data of at least one area of the environment using a mobile camera system at a first point in time. In addition, the method 100 includes a detection 120 of a positioning of the camera system in the environment in which the camera system is located when the first image data is captured. Furthermore, the method 100 includes storing 130 the first image data in an entry of an electronically available map of the environment associated with the detected positioning of the camera system. Furthermore, the method 100 proposes capturing 140 second image data of the area by means of the camera system at a second point in time that is later than the first and storing 150 the second image data in the entry.

As explained above, the method 100 in particular allows an availability of the area to be determined on the basis of the first and second image data.

The environment may include an indoor space, such as a factory floor, production hall, office space, or laboratory, and/or an outdoor space, such as a parking lot or outdoor storage facility. The areas in the vicinity include, for example, storage areas/storage areas, parking lots or work areas.

The camera system includes one or more cameras, for example. The one or more cameras may include one or more still cameras, film cameras, 3-D cameras, time-of-flight (TOF) cameras, or a combination of the aforementioned cameras. The camera system can be mounted on one or more movable supports units or vehicles. For example, multiple cameras may be mounted together or separately on one or more vehicles. In this way, the camera system can be moved through the environment to capture image data of multiple areas within the environment. In particular, the camera system can thus be positioned opposite the area to be monitored for capturing the first image data.

The image data can include image data that can be displayed visually, such as a two-dimensional image or a three-dimensional image, such as a so-called “point cloud”, of the area. Three-dimensional images can enable a more precise spatial characterization of the detected area compared to two-dimensional images. Three-dimensional maps can therefore provide a more reliable assessment of availability.

Exemplary two-dimensional images are, for example, a single image or a panorama image of the area composed of several single images. In particular, two-dimensional images of the area can include a round image, which can be understood as a panoramic image with an angular range of 360° around the camera system or the corresponding camera. Cameras for generating two-dimensional images can be less expensive than cameras for generating three-dimensional images. Determining the availability using two-dimensional image data can therefore be more cost-effective.

The electronically available map of the environment can be understood as a visually displayable map or as a database or data structure, which can include one or more entries, each of which is associated with a positioning of the camera system within the mapped environment. The map is present, for example, on a data medium or in a database. According to the method, image data can be stored in the one or more entries of the map.

According to the method, the entry in which the first and second image data are stored is assigned to a positioning of the camera system when capturing the first image data. The positioning of the camera system results, for example, from a position and an alignment/orientation of a camera in the camera system. As explained in more detail later, the position can be determined by means of localization. The alignment of the camera system can be predefined or can be determined based on a setting state of actuators for aligning the camera. As will be appreciated by those skilled in the art, using positioning, a location of the sensed area within the environment can be determined. The entry associated with the positioning of the camera system is mapped to the location of the area on the map, for example. Alternatively, the entry is mapped to the position of the camera system on the map, for example.

The first and second image data can in particular contain information about whether and for what purposes the area is available at the first or second point in time. Accordingly, an availability of the detected area can be determined based on the entry in which the first and the second image data are stored. The availability is, for example, understood as being available for purposes of use, such as for storage purposes or production purposes. The purposes of use can have different requirements for an area. Accordingly, the availability can depend in particular on the purpose for which the availability is checked.

The first and second image data show, for example, that the recorded area is built on at the first and second point in time and therefore cannot be used or can only be used to a limited extent for storage purposes.

Alternatively, the first and the second image data can indicate that the captured area is unused at the first and second point in time and is therefore available for storage purposes.

Alternatively, the first and second image data show that the captured area is used intermittently. For example, the first and second image data shows that the captured area is used for temporary housing of a vehicle or mobile device at the first or second point in time. Accordingly, there is at least temporary availability for the area covered, for example for temporary storage or temporary accommodation of another vehicle.

For a more precise and reliable assessment of the availability, additional image data can be recorded at other points in time and used to determine the availability.

The availability can be represented as a Boolean, for example, which indicates whether the recorded area is available for the desired purpose of use. The availability is optional, as a period of time in which the detected area is available, or as a probability that the detected area will be available area is available, displayable. For example, the image data shows that the captured area is available half the time points. Accordingly, the probability that the area is available can be 50%.

Alternatively, the availability can be specified as a time period in which the captured area is available according to image data captured at different points in time. The period of time includes, for example, a period of time between the first and the second point in time when the detected area is available according to the first and second image data at the first and the second point in time. To determine such a period of time, the first and second image data can be stored together in the entry.

Alternatively, only the most recently recorded image data can be used to assess current availability. For example, only the second image data can be used for this. This allows older image data, for example the first image data, to be deleted when storing the last recorded image data, for example the second image data.

Availability can be determined automatically or by one or more people. For example, computer vision is used to automatically determine availability. As will be understood by those skilled in the art, machine vision can be used to detect, recognize, and classify objects within the region based on the first and second image data. A classification of the objects using machine vision provides, for example, information about which objects contain the first and second image data and/or how long these objects are expected to be placed in the detected area. For an object classified as stationary infrastructure, it can be assumed that it will remain within the detected area longer than, for example, for an object classified as a vehicle. The determined availability can then depend in particular on an expected duration of the whereabouts of the classified objects.

Optionally, the entry can be evaluated by a person in order to assign an availability to the recorded area.

For a daily updated determination of the availability, a period of time between the first and the second point in time can include/amount to one day in some exemplary embodiments. In further exemplary embodiments, the period of time can be less than or more than one day. The period of time alternatively includes/is, for example, one or more hours or one or more weeks.

In some exemplary embodiments, the determined availability of the detected area can also be stored in the corresponding entry.

With the method described here, further image data of further areas can optionally be recorded at different points in time. According to the method, the further image data can be stored in corresponding further entries on the card, which are assigned to the corresponding positions of the camera when capturing the further image data. The availability of a number of areas in the vicinity can thus be determined, for example in order to determine an area available for the desired purpose of use from among the recorded areas.

The map can be used together with the entries and the image data of a person for planning purposes.

The camera system can optionally include a plurality of cameras. A camera system with multiple cameras allows, for example, the first image data of the area to be captured by the first camera. In addition, the method can include detecting a positioning of the first camera, at which the first camera is located when the first image data is detected. The method also includes, for example, storing the first image data in an entry in the map associated with the detected positioning of the first camera. The method also includes, for example, capturing the second image data using the second camera and storing the second image data in the entry.

In this way, for example, more image data of the area can be captured within a certain period of time.

The method described here is, for example, based on an in 2 illustrated device 200 executable.

2 FIG. 12 shows a block diagram of an embodiment of the device 200 for monitoring an environment.

The device 200 comprises at least one interface 210 for communication and a data processing circuit 220 for carrying out a method described herein.

The data processing circuitry 220 may, in embodiments, be hardware used for Carrying out one of the methods described herein is formed. This can be any processor core, such as digital signal processor cores (DSPs) or other processors. Exemplary embodiments are not limited to a specific type of processor core. Any processor cores or even a plurality of processor cores or microcontrollers are conceivable for implementing the data processing circuit 220 . Implementations in integrated form with other devices are also conceivable, for example in a control unit for a vehicle, which additionally includes one or more other functions. In embodiments, the data processing circuit by a processor core, a computer processor core (CPU = Central Processing Unit), a graphics processor core (GPU = Graphics Processing Unit), an application-specific integrated circuit core (ASIC = Application-Specific Integrated Circuit), an integrated circuit (IC = Integrated Circuit), a single-chip system core (SOC = System on Chip), a programmable logic element or a field-programmable gate array with a microprocessor (FPGA = Field Programmable Gate Array) can be realized as the core of the above-mentioned component or components. The data processing circuit can thus correspond to any component that can calculate or determine a traffic density from the movement profile.

The at least one interface 210 can be embodied in particular as an interface to a camera system. The camera system includes, for example, a camera mounted on a vehicle. Thus, the camera can be moved within the environment by means of the vehicle. The data processing circuit 220 is designed, for example, to acquire the first and the second image data via the interface of the camera system according to the method.

The at least one interface 210 can in particular also be embodied as an interface to a positioning detection device, which is designed, for example, to determine the positioning of the camera system. As already explained above, the positioning can be determined by a position and/or an orientation of a camera of the camera system. The positioning detection can be designed accordingly in order to determine the position and/or the orientation of the camera of the camera system. The data processing circuit 220 is designed, for example, to detect the positioning of the camera system via the interface 210 from the positioning detection device according to the method.

The positioning recognition device comprises, for example, a receiver (not shown) which is fixedly arranged relative to the camera system/to the camera, for detecting at least one signal from one or more transmitters installed in the area. The receiver and the transmitter are, for example, components of a so-called "indoor GPS system". The transmitters are, for example, Bluetooth or WLAN radio interfaces that are installed in a stationary manner in the area. The receiver is attached to the vehicle on which the camera is mounted, for example, and is designed to receive the signal or signals from the Bluetooth and/or WLAN radio interfaces. Using the signal or signals, the position of the receiver can be determined, for example using WLAN-based positioning methods such as so-called “fingerprinting”. The position of the camera can in turn be determined from the position of the receiver, since the receiver is fixed relative to the camera system/camera.

Optionally, the transmitters are RFID (radio-frequency identification) transponders installed in the vicinity, which, when the receiver falls below a certain distance from the transponders, transmits a signal identifying the position of the receiver to the receiver. This procedure can therefore be referred to as RFID-supported position determination.

For example, the orientation of the camera is fixed. The orientation of the camera is then predefined, for example. Alternatively, the orientation of the camera can be controlled using one or more actuators. In this case, the orientation of the camera can result from the setting states of the actuators.

The data processing circuit 220 can be designed to access the map of the environment that is present on a memory (not shown). In particular, the data processing circuitry 220 can access the one or more entries of the map to store the first and second image data in the corresponding entry. Furthermore, the data processing circuit can be designed to display the map, the entries and the image data stored therein for a user.

Furthermore, the data processing circuit 220 can be designed to determine the availability of the relevant area based on the image data, as described above. The data processing circuit 220 is designed, for example, to determine the availability of the relevant area based on the image data using machine vision. Further the data processing circuit can be designed to store the availability in the corresponding entry of the image data.

3 12 shows a vehicle 300 for monitoring an environment. The vehicle 300 includes, for example, at least one camera 310 of the camera system described above. Image data of an area 320 can be captured by means of the camera 310 . Objects 322 are located in area 320 for storage purposes, for example. Objects 322 are goods, for example, which are stored in area 320.

The image data captured by the camera 310 can be transmitted to the data processing circuit 220 for the method-based further use of the image data described above. The data processing circuitry 220 may be either mounted on the vehicle 300 or installed separately from the vehicle 300 . As will be understood by those skilled in the art, installing the data processing circuit separately from the vehicle 300 saves installation space in the vehicle 300, for example. In the event that the data processing circuit 220 is installed separately from the vehicle 300, the image data can be transmitted, for example by radio be transmitted to the data processing circuit 220.

In addition, the vehicle 300 can be equipped with a positioning detection device as described above in order to determine the positioning of the camera 310 in accordance with the explanations above.

The vehicle 300 is an industrial truck, for example, which can be used in particular for transport purposes within the surrounding area. The industrial truck is designed, for example, to transport the objects 322 located in the area 320 .

In some exemplary embodiments, vehicle 300 is designed as an at least partially automatically controlled vehicle/industrial truck. The vehicle 300 is designed, for example, to move within the environment in a fully automatically controlled manner. This allows the camera 310 to be automatically positioned to capture image data from multiple areas within the environment.

4 FIG. 1 schematically shows a procedure for acquiring image data from a plurality of regions 320a, 320b, 320c and 320d.

As in 4 shown, an environment 400 to be monitored can be divided into a movement area 410 and useful areas 420, for example.

The movement area 410 can be provided for a camera of the camera system and/or vehicles to move in it. The usable areas 420 can be provided for purposes of use, such as storage purposes or production purposes.

A camera of the camera system can capture image data of an area of a plurality of areas 320a, 320b, 320c and 320d at positions 410a, 410b, 410c and 410d. For example, the positions 410a, 410b, 410c and 410d are each assigned one of the areas 320a, 320b, 320c and 320d, from which the camera captures image data when the camera is at the corresponding position. For example, when the camera is at location 410a, it can capture image data of area 320a. When the camera is at position 410b, the camera can capture image data of area 320b. Similarly, when the camera is at positions 410c and 410d, it can capture image data of areas 320c and 320d.

For example, positions 410a, 410b, 410c, and 410d are predetermined. As previously described (e.g. using the positioning detection device), localization can be used to detect when the camera is located at one of the positions 410a, 410b, 410c and 410d, in order to then capture image data of the respectively assigned area.

Alternatively, the positions 410a, 410b, 410c and 410d can be determined, for example, by a location at which the camera is actually located when capturing image data of the associated regions 320a, 320b, 320c and 320d.

For a repeated acquisition of image data of the areas 320a, 320b, 320c and 320d, further image data can be acquired at a later point in time when the camera of the camera system is located at the assigned positions 410a, 410b, 410c and 410d. For example, the camera captures more image data of area 320a at a later time when the camera is again at position 410a.

The camera can, as previously related to 3 described, are moved to the positions 410a, 410b, 410c and 410d by means of a vehicle.

Optionally, the camera system can include multiple cameras, for example to capture more image data of areas 320a, 320b, 320c, and 320d. A camera system with multiple cameras allows, for example, image data of the area 320a to be captured by the first camera when the first camera is located at position 410a and capture of the second image data by means of the second camera when the second camera is located at position 320a. By using several cameras, for example, the time intervals between capturing the image data of an area can be shortened. The cameras are attached to different vehicles, for example. In particular, the accuracy and/or validity of the determined availability of the areas can be improved by shortening the time periods between successive recordings of image data of the areas.

Furthermore, embodiments may be or relate to a computer program having program code for performing one or more of the above methods when the computer program is executed on a computer or processor. Steps, operations, or processes of various methods described above may be performed by programmed computers or processors. Examples may also include program storage devices, e.g. digital data storage media that are machine, processor, or computer readable and that encode machine, processor, or computer executable programs of instructions. The instructions perform or cause performance of some or all of the steps of the methods described above. The program storage devices may e.g. B. include or be digital storage, magnetic storage media such as magnetic disks and magnetic tapes, hard drives or optically readable digital data storage media. Other examples may also include computers, processors, or controllers programmed to perform the steps of the methods described above, or (Field) Programmable Logic Arrays ((F)PLAs) or (Field) Programmable Gate Arrays ((F)PGA = (Field) Programmable Gate Arrays) programmed to perform the steps of the methods described above.

Functions of various elements shown in the figures, as well as the function blocks referred to, may be implemented in the form of dedicated hardware, e.g. B "a signal provider", "a signal processing unit", "a processor", "a controller", etc., and implemented as hardware capable of executing software in conjunction with associated software. When provided by a processor, the functions may be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some or all of which may be shared. However, the term "processor" or "controller" is far from limited to hardware capable of running only software, but can include digital signal processor (DSP) hardware, network processor, application-specific integrated circuit (ASIC = Application Specific Integrated Circuit), Field Programmable Gate Array (FPGA), Read Only Memory (ROM) for storing software, Random Access Memory (RAM) and non-volatile storage devices (storage). Other hardware, conventional and/or custom, may also be included.

For example, a block diagram may represent a high level circuit diagram that implements the principles of the disclosure. Similarly, a flowchart, flowchart, state transition diagram, pseudocode, and the like may represent various processes, operations, or steps, embodied, for example, substantially in a computer-readable medium and so executed by a computer or processor, whether or not one Computer or processor is explicitly shown. Methods disclosed in the specification or claims may be implemented by a device having means for performing each of the respective steps of those methods.

It should be understood that the disclosure of a plurality of steps, processes, operations or functions disclosed in the specification or claims should not be construed as being in the particular order unless otherwise expressly or implicitly stated, e.g. B. for technical reasons. Therefore, the disclosure of multiple steps or functions does not limit them to a specific order, unless these steps or functions are not interchangeable for technical reasons. Further, in some examples, a single step, function, process, or operation may include and/or be broken into multiple sub-steps, functions, processes, or operations. Such sub-steps may be included and form part of the disclosure of that sub-step unless explicitly excluded.

reference list

100

procedure

110

Acquisition of first image data

120

Capturing a position

130

Saving the first image data

140

acquiring second image data

150

storing the second image data

200

contraption

210

interfaces

220

data processing circuit

300

vehicle

310

camera

320

Area

320a

Area

320b

Area

320c

Area

320d

Area

322

objects

400

Surroundings

410

range of motion

410a

position

410b

position

410c

position

410d

position

420

usable areas

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was 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.

Patent Literature Cited

• US 2018/0143624 A1 [0003]
• DE 102018205964 A1 [0004]
• US 2014/0232826 A1 [0005]

Claims (10)

A method (100) for monitoring an environment, the method (100) comprising: Capturing (110) first image data of at least one area of the surroundings by means of a mobile camera system at a first point in time; detecting (120) a positioning of the camera system in the environment at which the camera system is located when the first image data is detected; Saving (130) the first image data in an entry of an electronically available map of the environment associated with the detected positioning of the camera system; capturing (140) second image data of the area by means of the camera system at a second point in time later than the first point in time; storing (150) the second image data in the entry. The method (100) according to claim 1 , where the environment comprises an interior space. The method (100) according to claim 1 or 2 , comprising capturing the second image data when the camera system is in the captured position. The method (100) according to any one of the preceding claims, wherein the camera system is mounted on a vehicle. The method (100) according to any one of the preceding claims, wherein the first and/or second image data comprises at least one panoramic image or one circular image. The method (100) according to any one of the preceding claims, comprising detecting the positioning: detecting at least one signal from one or more transmitters installed in the area by means of a receiver arranged in a fixed manner relative to the camera system; and determining the positioning using the signal. The method (100) of any preceding claim, wherein storing the second image data comprises storing the second image data in the entry along with the first image data. The method (100) according to any one of the preceding claims, wherein the camera system comprises a first and at least a second mobile camera, the method (100) comprising: capturing the first image data of the area using the first camera; detecting a positioning of the first camera, at which the first camera is located when the first image data is detected; storing the first image data in an entry in the map associated with the detected positioning of the first camera; capturing the second image data by means of the second camera; storing the second image data in the entry. Computer program with a program code for performing a method according to one of the preceding claims, when the program code is executed on a computer, a processor, a control module or a programmable hardware component. A device (200) for monitoring an environment, the device (200) comprising: at least one interface (210) for communication; and a data processing circuit (220) for carrying out a method (100) according to one of Claims 1 until 8th .

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