DE112012004831A5 - Bestimmung eines Höhenprofils einer Fahrzeugumgebung mittels einer 3D-Kamera - Google Patents
Bestimmung eines Höhenprofils einer Fahrzeugumgebung mittels einer 3D-Kamera Download PDFInfo
- Publication number
- DE112012004831A5 DE112012004831A5 DE112012004831.8T DE112012004831T DE112012004831A5 DE 112012004831 A5 DE112012004831 A5 DE 112012004831A5 DE 112012004831 T DE112012004831 T DE 112012004831T DE 112012004831 A5 DE112012004831 A5 DE 112012004831A5
- Authority
- DE
- Germany
- Prior art keywords
- camera
- determining
- vehicle environment
- height profile
- profile
- 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
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
- G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/35—Determination of transform parameters for the alignment of images, i.e. image registration using statistical 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
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/42—Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
- G06V10/421—Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation by analysing segments intersecting the pattern
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- Probability & Statistics with Applications (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011056671.6 | 2011-12-20 | ||
DE102011056671A DE102011056671A1 (de) | 2011-12-20 | 2011-12-20 | Bestimmung eines Höhenprofils einer Fahrzeugumgebung mittels einer 3D-Kamera |
PCT/DE2012/100384 WO2013091620A1 (de) | 2011-12-20 | 2012-12-17 | Bestimmung eines höhenprofils einer fahrzeugumgebung mittels einer 3d-kamera |
Publications (1)
Publication Number | Publication Date |
---|---|
DE112012004831A5 true DE112012004831A5 (de) | 2014-08-28 |
Family
ID=47678433
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102011056671A Withdrawn DE102011056671A1 (de) | 2011-12-20 | 2011-12-20 | Bestimmung eines Höhenprofils einer Fahrzeugumgebung mittels einer 3D-Kamera |
DE112012004831.8T Pending DE112012004831A5 (de) | 2011-12-20 | 2012-12-17 | Bestimmung eines Höhenprofils einer Fahrzeugumgebung mittels einer 3D-Kamera |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102011056671A Withdrawn DE102011056671A1 (de) | 2011-12-20 | 2011-12-20 | Bestimmung eines Höhenprofils einer Fahrzeugumgebung mittels einer 3D-Kamera |
Country Status (6)
Country | Link |
---|---|
US (1) | US20140320644A1 (de) |
EP (1) | EP2795537A1 (de) |
JP (1) | JP6238905B2 (de) |
KR (1) | KR20140109990A (de) |
DE (2) | DE102011056671A1 (de) |
WO (1) | WO2013091620A1 (de) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012101085A1 (de) | 2012-02-10 | 2013-08-14 | Conti Temic Microelectronic Gmbh | Bestimmung einer Beschaffenheit einer Fahrbahnoberfläche mittels einer 3D-Kamera |
JP6194604B2 (ja) * | 2013-03-15 | 2017-09-13 | 株式会社リコー | 認識装置、車両及びコンピュータが実行可能なプログラム |
KR102153030B1 (ko) | 2013-11-05 | 2020-09-07 | 현대모비스 주식회사 | 주차 지원 장치 및 방법 |
DE102013223367A1 (de) | 2013-11-15 | 2015-05-21 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zur Bestimmung eines Fahrbahnzustands mittels eines Fahrzeugkamerasystems |
DE102013224791A1 (de) * | 2013-12-03 | 2015-06-03 | Continental Teves Ag & Co. Ohg | Verfahren zur Erkennung von wenigstens einer Fahrspurmarkierung einer einem Fahrzeug vorausliegenden Fahrspur |
EP3007099B1 (de) | 2014-10-10 | 2022-12-07 | Continental Autonomous Mobility Germany GmbH | Bilderkennungssystem für ein Fahrzeug und entsprechendes Verfahren |
US20160321810A1 (en) * | 2015-04-28 | 2016-11-03 | Pixart Imaging (Penang) Sdn. Bhd. | Optical navigation sensor, electronic device with optical navigation function and operation method thereof |
DE102016215840A1 (de) | 2016-08-23 | 2018-03-01 | Volkswagen Aktiengesellschaft | Verfahren zur Erfassung von im Fahrzeugumfeld befindlichen Bordsteinen |
JP6874319B2 (ja) * | 2016-10-12 | 2021-05-19 | 日産自動車株式会社 | 走路境界監視方法及び走路境界監視装置 |
US10078334B2 (en) * | 2016-12-07 | 2018-09-18 | Delphi Technologies, Inc. | Vision sensing compensation |
WO2018193577A1 (ja) * | 2017-04-20 | 2018-10-25 | 三菱電機株式会社 | 駐車支援制御装置および駐車支援制御方法 |
DE102017004642A1 (de) | 2017-05-15 | 2017-12-14 | Daimler Ag | Verfahren und Vorrichtung zur Bestimmung eines Höhenprofils eines einem Fahrzeug vorausliegenden Fahrbahnabschnitts |
DE102018129485A1 (de) * | 2018-11-22 | 2020-05-28 | Trw Automotive Gmbh | Verfahren sowie System zur Bestimmung eines Fahrkorridors |
CN109976348A (zh) * | 2019-04-11 | 2019-07-05 | 深圳市大富科技股份有限公司 | 一种车辆及其运动控制方法、设备、存储介质 |
DE102019110216A1 (de) * | 2019-04-17 | 2020-10-22 | Zf Friedrichshafen Ag | Verfahren zum Erfassen von für ein Fahrzeug zur Verfügung stehenden künftigen Fahrspuren sowie Steuergerät, Fahrzeug, Computerprogramm und computerlesbarer Datenträger |
CN110942481B (zh) * | 2019-12-13 | 2022-05-20 | 西南石油大学 | 一种基于图像处理的纵跳检测方法 |
DE102020201000B3 (de) | 2020-01-28 | 2021-07-29 | Zf Friedrichshafen Ag | Computerimplementiertes Verfahren und System zum Erhalten eines Umfeldmodells und Steuergerät für ein automatisiert betreibbares Fahrzeug |
DE102021101133A1 (de) | 2021-01-20 | 2022-07-21 | Valeo Schalter Und Sensoren Gmbh | Detektion eines lateralen Endes einer Fahrbahn |
CN117087675B (zh) * | 2023-10-10 | 2024-04-12 | 镁佳(北京)科技有限公司 | 一种车辆通过性的检测方法、装置、设备及介质 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1021411A (ja) * | 1996-07-05 | 1998-01-23 | Nissan Motor Co Ltd | 走行路認識装置 |
US20020176608A1 (en) * | 2001-05-23 | 2002-11-28 | Rose David Walter | Surface-profiling system and method therefor |
DE10392601B4 (de) * | 2002-08-09 | 2023-01-19 | Conti Temic Microelectronic Gmbh | Verkehrsmittel mit einer 3D-Entfernungsbildkamera und Verfahren zu dessen Betrieb |
JP4092308B2 (ja) * | 2004-06-02 | 2008-05-28 | トヨタ自動車株式会社 | 境界線検出装置 |
DE102004057296A1 (de) * | 2004-11-26 | 2006-06-08 | Daimlerchrysler Ag | Lane-Departure-Warning mit Unterscheidung zwischen Fahrbahnrandmarkierung und baulicher Begrenzung des Fahrbahnrandes |
DE102005039167A1 (de) * | 2005-08-17 | 2007-02-22 | Daimlerchrysler Ag | Fahrerassistenzsystem zur Fahrerwarnung bei einem drohenden Verlassen der Fahrspur |
US8462988B2 (en) * | 2007-01-23 | 2013-06-11 | Valeo Schalter Und Sensoren Gmbh | Method and system for universal lane boundary detection |
EP2158576A1 (de) * | 2007-06-08 | 2010-03-03 | Tele Atlas B.V. | Verfahren und vorrichtung zum produzieren eines panoramas mit mehreren ansichtspunkten |
JP5163164B2 (ja) * | 2008-02-04 | 2013-03-13 | コニカミノルタホールディングス株式会社 | 3次元計測装置 |
JP5089545B2 (ja) * | 2008-09-17 | 2012-12-05 | 日立オートモティブシステムズ株式会社 | 道路境界検出判断装置 |
DE102009033219A1 (de) | 2009-01-23 | 2010-07-29 | Daimler Ag | Verfahren zur Ermittlung eines Fahrzeug vorausliegenden Straßenprofils einer Fahrspur |
JP5171723B2 (ja) * | 2009-04-27 | 2013-03-27 | アルプス電気株式会社 | 障害物検知装置、および当該装置を搭載した車両 |
US8564657B2 (en) * | 2009-05-29 | 2013-10-22 | Honda Research Institute Europe Gmbh | Object motion detection system based on combining 3D warping techniques and a proper object motion detection |
DE102010020688A1 (de) * | 2010-05-15 | 2011-05-19 | Daimler Ag | Verfahren zur Bestimmung eines Fahrspurverlaufs für ein Fahrzeug |
-
2011
- 2011-12-20 DE DE102011056671A patent/DE102011056671A1/de not_active Withdrawn
-
2012
- 2012-12-17 KR KR1020147020246A patent/KR20140109990A/ko not_active Application Discontinuation
- 2012-12-17 WO PCT/DE2012/100384 patent/WO2013091620A1/de active Application Filing
- 2012-12-17 EP EP12822964.8A patent/EP2795537A1/de not_active Ceased
- 2012-12-17 US US14/366,052 patent/US20140320644A1/en not_active Abandoned
- 2012-12-17 DE DE112012004831.8T patent/DE112012004831A5/de active Pending
- 2012-12-17 JP JP2014547716A patent/JP6238905B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
DE102011056671A1 (de) | 2013-06-20 |
WO2013091620A1 (de) | 2013-06-27 |
KR20140109990A (ko) | 2014-09-16 |
JP2015510105A (ja) | 2015-04-02 |
JP6238905B2 (ja) | 2017-11-29 |
EP2795537A1 (de) | 2014-10-29 |
US20140320644A1 (en) | 2014-10-30 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
R012 | Request for examination validly filed | ||
R079 | Amendment of ipc main class |
Free format text: PREVIOUS MAIN CLASS: G06K0009500000 Ipc: G06V0030184000 |
|
R081 | Change of applicant/patentee |
Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE Free format text: FORMER OWNERS: CONTINENTAL TEVES AG & CO. OHG, 60488 FRANKFURT, DE; CONTI TEMIC MICROELECTRONIC GMBH, 90411 NUERNBERG, DE |