EP0973137B1 - Bewegungsmelder - Google Patents
Bewegungsmelder Download PDFInfo
- Publication number
- EP0973137B1 EP0973137B1 EP98112460A EP98112460A EP0973137B1 EP 0973137 B1 EP0973137 B1 EP 0973137B1 EP 98112460 A EP98112460 A EP 98112460A EP 98112460 A EP98112460 A EP 98112460A EP 0973137 B1 EP0973137 B1 EP 0973137B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- image sensor
- motion detector
- detector according
- evaluation
- brightness
- 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.)
- Expired - Lifetime
Links
- 238000011156 evaluation Methods 0.000 claims description 35
- 238000001514 detection method Methods 0.000 claims description 14
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- 238000005286 illumination Methods 0.000 claims description 3
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- 238000001931 thermography Methods 0.000 description 7
- 238000003384 imaging method Methods 0.000 description 6
- 241001465754 Metazoa Species 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
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- 238000007781 pre-processing Methods 0.000 description 4
- 241000282412 Homo Species 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009529 body temperature measurement Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
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- 238000012935 Averaging Methods 0.000 description 1
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- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
- G08B13/19604—Image analysis to detect motion of the intruder, e.g. by frame subtraction involving reference image or background adaptation with time to compensate for changing conditions, e.g. reference image update on detection of light level change
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19639—Details of the system layout
- G08B13/19641—Multiple cameras having overlapping views on a single scene
- G08B13/19643—Multiple cameras having overlapping views on a single scene wherein the cameras play different roles, e.g. different resolution, different camera type, master-slave camera
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
- G08B29/18—Prevention or correction of operating errors
- G08B29/20—Calibration, including self-calibrating arrangements
- G08B29/24—Self-calibration, e.g. compensating for environmental drift or ageing of components
- G08B29/26—Self-calibration, e.g. compensating for environmental drift or ageing of components by updating and storing reference thresholds
Definitions
- the present invention relates to a motion detector, with two sensors and with an evaluation electronics connected to this.
- PIR sensors Passive infrared (PIR) sensors are mainly used in motion detectors today, which are very inexpensive, but do not allow spatial resolution and the objects with a low temperature contrast to their surroundings only with Can detect difficulties. Also Doppler detectors or motion detectors PIR and Doppler principle do not allow spatial resolution. This very property is required today because the motion detector can not only detect whether an object is in the monitored room, but also where in the room the object is in which direction it is moving and by what type or what class of object it is.
- thermal image sensors these are imaging sensors in the area of thermal radiation, those in the wavelength range work from about 5 to 15 microns, fails because they are still so expensive today are that sufficiently high-resolution sensors are not used for motion detectors can be. There are also high quality lenses for thermal imaging sensors the desired high resolution very expensive.
- thermal imaging sensors in the range of approximately are used 4 by 4 up to 32 by 32 pixels, then objects cannot be analyzed with sufficient accuracy become. For example, the resolution is too low to distinguish humans from animals to be able to.
- thermal imaging sensors with low temperature contrast So at an ambient temperature around 30 ° C, only a low detection sensitivity.
- image sensors are also known, these are imaging sensors in the visible and near infrared, which is in the wavelength range from about 0.4 to 1.8 ⁇ m work. These image sensors are very inexpensive today and therefore also relative widely used, but their use is dependent on the presence of a certain minimum Brightness bound. This means that such sensors see nothing in the dark and used in such conditions only in combination with additional lighting can be. In addition, the signal of the image sensor must always be evaluated the entire image can be edited, which requires a relatively large amount of storage capacity, and computing time and, if the evaluation is not carried out locally, a complex one Transmission required.
- the invention is now to provide a motion detector of the type mentioned which is fully operational even in the dark and with as little as possible Storage capacity and computing time is sufficient, with which even low-contrast objects can be safely detected, and which one for the detection and analysis of Objects has sufficient spatial resolution.
- This motion detector should not only meet all known criteria of intrusion detection technology, but it should also allow a classification of the moving objects.
- the motion detector has one hereinafter referred to as the image sensor imaging sensor in the visible and near Infrared range and an imaging hereinafter referred to as thermal imaging sensor Sensor in the range of heat radiation with a lower resolution than the image sensor and that in the evaluation electronics a combined evaluation of the signals of the two sensors.
- the thermal image sensor can either be the absolute temperature or, if appropriate differential connection of the individual sensor elements, measure temperature changes.
- Fresnel lenses made of polyethylene are used, which are much cheaper than the high-quality lenses made of zinc selenide for high-resolution thermal imaging sensors.
- a first preferred embodiment of the motion detector according to the invention is characterized in that before the combined evaluation of the signals from the sensors a separate pre-evaluation of the signals from both the image sensor and the thermal image sensor he follows.
- a second preferred embodiment of the motion detector according to the invention is characterized in that by the thermal image sensor a lighting independent Detection and rough localization of moving objects and by the image sensor these are classified.
- a third preferred embodiment of the motion detector according to the invention is characterized in that the image sensor by a pixel-wise addressable sensor, preferably an active pixel sensor is formed.
- the pixel-wise addressable The advantage of an image sensor is that you can focus on the interesting information when reading Limit image area and thereby computing time and storage capacity as well as in In case of non-local evaluation, transmission time can also be saved.
- a fourth preferred embodiment of the motion detector according to the invention is characterized in that means for measuring brightness and for controlling the Exposure time of the image sensor and / or means for temperature measurement are provided and are connected to the evaluation electronics.
- a fifth preferred embodiment of the motion detector according to the invention is characterized in that the detector in different, to the requirements of each Application-adapted operating modes can be operated, and additionally via different Has signal evaluation modes, and that the setting on the respective Evaluation mode on the basis of the environmental conditions, preferably on the basis of brightness and / or temperature measured by the means mentioned.
- the use of the means for brightness measurement and / or for temperature measurement has the advantage that the detector determines the most important parameters of its environment and set the appropriate evaluation mode based on this environmental situation can.
- the intrusion or motion detector 1 shown in Fig. 1 consists essentially from an imaging sensor 2, referred to below as the image sensor, in the visible Wavelength range from about 0.4 to 1.8 ⁇ m, one subsequently as a thermal image sensor designated sensor in the wavelength range of heat radiation of approximately 5 to 15 ⁇ m, each of which is followed by a preprocessing stage 4 or 5, and one Evaluation electronics 6 for processing and evaluating the preprocessed signals of the two sensors 2 and 3.
- the image sensor 2 and the thermal image sensor 3 both consider same area of the room to be monitored.
- the detector contains 1 also means 7 for measuring brightness and means 8 for measuring temperature, wherein the brightness measurement is preferably carried out by the image sensor 2.
- the thermal image sensor 3 is very suitable for a lighting-independent Detection and rough localization of moving objects.
- the image sensor 2 in turn thanks to its larger resolution, it can classify objects, especially humans differentiate from animals and it compensates for the detection weakness of the thermal image sensor 3 at low temperature contrast.
- the image sensor 2 is preferably a pixel-addressable sensor, for example a so-called APS (Active Pixel Sensor) is formed, which is characterized by a very low power consumption and the ability to access individual pixels distinguished.
- APS Active Pixel Sensor
- additional application-specific analog or digital functions for example simple image processing algorithms such as filters or exposure controls, can be easily integrated.
- GSP is referred to the article "A 128 x- 128 CMOS Active Pixel Image Sensor for Highly Integrated Imaging Systems "by Sunetra K. Mendis, Sabrina E. Kennedy and Eric R.
- the image sensor 2 is directed towards the room to be monitored and captures it in terms of image technology and digitizes the picture. For example, if the APS forming the image sensor 2 consists of 128 by 128 pixels, then using a suitable wide-angle lens an area of approximately one pixel at a distance of 15 m in front of the image sensor 3 Correspond to 12 by 12 cm. Such a resolution allowed, human and animal Shape to distinguish relatively reliably from each other, with a higher resolution increases reliability, but also requires more computing power.
- the image sensor 2 makes at intervals of A fraction of a second takes an image of the monitored room and saves it for a short time so that it can be compared with a reference image that is continuously updated can be compared.
- This image comparison can either be in the image sensor 3 itself or done in preprocessing stage 4.
- the thermal image sensor 3 which has a relatively low resolution of, for example, 4 by 4 has up to about 32 by 32 pixels and a matrix of a corresponding number consists of heat-sensitive elements, essentially serves to compensate for the potential Weaknesses of the image sensor 2, in particular of its property, below not to provide image information to critical lighting.
- the robustness and False alarm security of detector 1 in comparison to existing motion detectors increased significantly.
- the means 7 and 8 contained in the detector 1 continuously measure brightness and temperature and use the measured values to set the appropriate evaluation mode for detector 1 one, which determines how the signals of the two sensors 2 and 3 in the combined Processing evaluated and combined with each other.
- the means 7 for measuring brightness can be used to control the exposure time at the same time.
- the detector 1 can also be operated in different operating modes that meet the requirements the respective application and / or to the existing infrastructure (e.g. Level of risk, presence of animals, triggers of lighting) are adjusted.
- the detector 1 can also be illuminated in the visible area or, if discreet monitoring is desired, in the near infrared turn on, turning on either based on the measured environmental conditions (too low a temperature contrast and too little brightness), or but if one of the two sensors delivers a very weak signal.
- an existing external lighting for example a room or outdoor lighting or a spotlight is by the detector 1 via radio, infrared, direct wire connection, the network or an existing one Building bus turned on, or one specifically designed for this purpose Lighting that is either built into the detector or available as an additional device switched on by the evaluation electronics 6.
- Illumination built into the detector could be formed by infrared LEDs, for example.
- the signals from the image sensor 2 and the thermal image sensor 3 are combined into one Evaluation converted with the signal of the image sensor 2 suitable format and classified according to their strength and it shows the number of time-modified pixels and determined their coordinates.
- the pre-evaluation can be performed as hardware and / or integrated in the form of a processor core on the APS chip. In the The number of pixels changed compared to the reference image, their clustering and characteristics of the pixel cluster are determined.
- the image sensor 2 can be designed such that images that lead to an alarm decision have, and those immediately preceding and / or following up to more can be saved. If necessary, this can also be transferred stored images to a spatially separate station.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computer Security & Cryptography (AREA)
- Closed-Circuit Television Systems (AREA)
- Geophysics And Detection Of Objects (AREA)
- Burglar Alarm Systems (AREA)
- Studio Devices (AREA)
Description
- Fig. 1
- ein Blockschema eines erfindungsgemässen Bewegungsmelders; und
- Fig. 2
- ein Flussdiagramm zur Erläuterung der Signalverarbeitung.
- Genügend grosser Temperaturkontrast Mensch/Umgebung: Wenn die Raumtemperatur TR ausreichend stark von der Körpertemperatur TK abweicht, dann löst das Signal des Wärmebildsensor 3 die Auswertung des Signals des Bildsensors 2 aus, wobei die Detektions- oder Ansprechschwelle des Wärmebildsensors 3 von der Helligkeit abhängig ist. Bei genügender Raumhelligkeit wird die Detektionsschwelle sehr tief angesetzt. Wenn der Auswerteteil für den Wärmebildsensor 3 ein Objekt detektiert, dann werden dessen Ausdehnung und Koordinaten bestimmt und der Bildsensorauswertung übermittelt. Diese liest nur den entsprechenden interessanten Bildteil und nicht das ganze Bild aus, wodurch Rechenzeit und Leistung gespart werden. Der ausgelesene Bildteil wird einer Bewegungsdetektion und einer Objektklassifizierung unterzogen. Wenn ein Objekt als Mensch klassifiziert wird, gibt der Melder Alarm. Bei nicht ausreichender Raumhelligkeit arbeitet die Auswertung des Wärmebildsensors mit einer höheren Detektionsschwelle und löst bei deren Überschreitung direkt Alarm aus.
- Zu geringer Temperaturkontrast, ausreichende Helligkeit: In diesem Fall wird der Wärmebildsensor 3 nicht als Trigger für den Bildsensor verwendet, sondern die Auswertung des Bildsensors 2 wertet immer das gesamte Bild aus und führt eine Bewegungsdetektion und eine Objektklassifizierung durch.
- Zu geringer Temperaturkontrast, geringe Helligkeit: Beide Auswertungsstufen werten das Bild ihres Sensors aus und die Resultate werden kombiniert verarbeitet. Die Detektierbarkeit kann durch lange Belichtungszeiten oder Mittelung über mehrere Bilder verbessert werden. Dadurch sind zwar sehr rasche Vorgänge schwieriger zu erfassen, allerdings sind solche Vorgänge bei diesen Umgebungsbedingungen auch sehr unwahrscheinlich.
Claims (13)
- Bewegungsmelder, mit zwei Sensoren (2, 3) und mit einer an diese angeschlossenen Auswerteelektronik (6), dadurch gekennzeichnet, dass der Bewegungsmelder (1) einen Bildsensor (2) im sichtbaren und nahen Infrarotbereich und einen Wärmebildsensor (3) im Bereich von Wärmestrahlung mit einer niedrigeren Auflösung als der Bildsensor (2) aufweist, und dass in der Auswerteelektronik (6) eine kombinierte Auswertung der Signale der beiden Sensoren (2, 3) erfolgt.
- Bewegungsmelder nach Anspruch 1, dadurch gekennzeichnet, dass vor der kombinierten Auswertung der Signale der Sensoren (2, 3) eine getrennte Vorauswertung der Signale sowohl des Bildsensors (2) als auch des Wärmebildsensors (3) erfolgt.
- Bewegungsmelder nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass durch den Wärmebildsensor (3) eine beleuchtungsunabhängige Erfassung und grobe Lokalisierung von bewegten Objekten und durch den Bildsensor (2) eine Klassifizierung von diesen erfolgt.
- Bewegungsmelder nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass der Bildsensor (2) durch einen pixelweise adressierbaren Sensor, vorzugsweise einen Aktiv Pixel Sensor, gebildet ist.
- Bewegungsmelder nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass Mittel (7) zur Helligkeitsmessung und zur Steuerung der Belichtungszeit des Bildsensors (2) und Mittel (8) zur Temperaturmessung vorgesehen und mit der Auswerteelektronik (3) verbunden sind.
- Bewegungsmelder nach Anspruch 5, dadurch gekennzeichnet, dass der Melder (1) in verschiedenen Betriebsmodi betreibbar ist, und zusätzlich über verschiedene Signalauswertungsmodi verfügt, und dass die Einstellung auf den jeweiligen Auswertungsmodus anhand der Umgebungsbedingungen, vorzugsweise anhand der von den genannten Mitteln (7, 8) gemessenen Helligkeit und/oder Temperatur, erfolgt.
- Bewegungsmelder nach Anspruch 6, dadurch gekennzeichnet, dass bei genügend grossem Temperaturkontrast zwischen Körper- und Raumtemperatur und genügend grosser Raumhelligkeit der Wärmebildsensor (3) als Trigger für den Bildsensor (2) dient, wobei die Detektionsschwelle tief angesetzt ist.
- Bewegungsmelder nach Anspruch 7, dadurch gekennzeichnet, dass bei Detektion eines Objekts durch den Wärmebildsensor (3) eine Bestimmung von dessen Lage und Ausdehnung und anhand dieser Angaben aus dem Signal des Bildsensors (2) eine Auslesung und Analyse des entsprechenden Bildteils erfolgt.
- Bewegungsmelder nach Anspruch 6, dadurch gekennzeichnet, dass bei genügend grossem Temperaturkontrast zwischen Körper- und Raumtemperatur und zu geringer Raumhelligkeit ausschliesslich eine Verarbeitung des Signals des Wärmebildsensors (3) erfolgt, wobei die Detektionsschwelle höher angesetzt ist als bei ausreichend grosser Raumhelligkeit.
- Bewegungsmelder nach Anspruch 6, dadurch gekennzeichnet, dass bei zu geringem Temperaturkontrast zwischen Körper- und Raumtemperatur und genügend grosser Raumhelligkeit eine Auswertung des gesamten Bildes des Bildsensors (2) erfolgt.
- Bewegungsmelder nach Anspruch 6, dadurch gekennzeichnet, dass bei zu geringem Temperaturkontrast zwischen Körper- und Raumtemperatur und zu geringer Raumhelligkeit eine Auswertung der Signale beider Sensoren (2, 3) jeweils über das gesamte Bild erfolgt.
- Bewegungsmelder nach Anspruch 5, dadurch gekennzeichnet, dass vom Bewegungsmelder (1), vorzugsweise von den Mitteln (7) zur Helligkeitsmessung, gesteuerte Beleuchtungsmittel vorgesehen sind.
- Bewegungsmelder nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, dass ein Speicher für die vom Bildsensor (2) aufgenommenen Bilder vorgesehen ist, und dass dieser Speicher so gesteuert ist, dass eine Speicherung derjenigen Bilder erfolgt, welche zu einem Alarmentscheid geführt haben.
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP98112460A EP0973137B1 (de) | 1998-07-06 | 1998-07-06 | Bewegungsmelder |
DK98112460T DK0973137T3 (da) | 1998-07-06 | 1998-07-06 | Bevægelsesmelder |
ES98112460T ES2190558T3 (es) | 1998-07-06 | 1998-07-06 | Detector de movimiento. |
DE59806868T DE59806868D1 (de) | 1998-07-06 | 1998-07-06 | Bewegungsmelder |
IL13019199A IL130191A (en) | 1998-07-06 | 1999-05-28 | Movement detector |
US09/346,515 US6246321B1 (en) | 1998-07-06 | 1999-07-01 | Movement detector |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP98112460A EP0973137B1 (de) | 1998-07-06 | 1998-07-06 | Bewegungsmelder |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0973137A1 EP0973137A1 (de) | 2000-01-19 |
EP0973137B1 true EP0973137B1 (de) | 2003-01-08 |
Family
ID=8232221
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98112460A Expired - Lifetime EP0973137B1 (de) | 1998-07-06 | 1998-07-06 | Bewegungsmelder |
Country Status (6)
Country | Link |
---|---|
US (1) | US6246321B1 (de) |
EP (1) | EP0973137B1 (de) |
DE (1) | DE59806868D1 (de) |
DK (1) | DK0973137T3 (de) |
ES (1) | ES2190558T3 (de) |
IL (1) | IL130191A (de) |
Families Citing this family (57)
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US6359564B1 (en) | 1999-10-28 | 2002-03-19 | Ralph W. Thacker | Occupancy status indicator |
US6587049B1 (en) | 1999-10-28 | 2003-07-01 | Ralph W. Thacker | Occupant status monitor |
EP1418555B1 (de) * | 1999-12-17 | 2007-10-10 | Siemens Schweiz AG | Präsenzmelder und dessen Verwendung |
US20020131643A1 (en) * | 2001-03-13 | 2002-09-19 | Fels Sol Sidney | Local positioning system |
DE10210470B4 (de) * | 2002-03-11 | 2016-03-24 | Mobotix Ag | Beleuchtungsanordnung |
US7126476B2 (en) * | 2002-05-12 | 2006-10-24 | Risco Ltd. | Dual sensor intruder alarm |
GB0210887D0 (en) * | 2002-05-13 | 2002-06-19 | Central Research Lab Ltd | Verified alarms |
FR2851837B1 (fr) * | 2003-02-27 | 2006-12-22 | Peugeot Citroen Automobiles Sa | Procede et systeme de detection de la presence d'au moins un pieton dans l'environnement d'un vehicule automobile. |
BE1015605A5 (nl) * | 2003-07-14 | 2005-06-07 | Traficon Nv | Detectie-inrichting. |
US7161152B2 (en) * | 2003-12-16 | 2007-01-09 | Robert Bosch Gmbh | Method and apparatus for reducing false alarms due to white light in a motion detection system |
US8531562B2 (en) | 2004-12-03 | 2013-09-10 | Fluke Corporation | Visible light and IR combined image camera with a laser pointer |
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DE102008046963A1 (de) | 2008-09-12 | 2010-06-10 | Siemens Aktiengesellschaft | Bilderfassungseinheit zur Fusion von mit Sensoren unterschiedlicher Wellenlängenempfindlichkeit erzeugten Bildern |
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ES2190558T3 (es) | 2003-08-01 |
IL130191A0 (en) | 2000-06-01 |
EP0973137A1 (de) | 2000-01-19 |
DE59806868D1 (de) | 2003-02-13 |
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