EP2243301A1 - Procédé de réglage d'image destiné à une image vidéo - Google Patents

Procédé de réglage d'image destiné à une image vidéo

Info

Publication number
EP2243301A1
EP2243301A1 EP08870994A EP08870994A EP2243301A1 EP 2243301 A1 EP2243301 A1 EP 2243301A1 EP 08870994 A EP08870994 A EP 08870994A EP 08870994 A EP08870994 A EP 08870994A EP 2243301 A1 EP2243301 A1 EP 2243301A1
Authority
EP
European Patent Office
Prior art keywords
image
lines
motor vehicle
camera
reference object
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.)
Withdrawn
Application number
EP08870994A
Other languages
German (de)
English (en)
Inventor
Tobias Stumber
Ralf Render
Jens Schick
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2243301A1 publication Critical patent/EP2243301A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • 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
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/30—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing vision in the non-visible spectrum, e.g. night or infrared vision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/31—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing stereoscopic vision
    • 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
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/246—Calibration of cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/20—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only
    • H04N23/21—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only from near infrared [NIR] radiation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
    • B60R2300/402—Image calibration

Definitions

  • the invention relates to an image adjustment method for a video image, which is detected continuously by means of an image sensor of a first camera of a motor vehicle by pixels arranged in image lines from the environment of the motor vehicle and displayed on a display device of the motor vehicle, with respect to at least one reference object relative rotation. Furthermore, the invention relates to an image capture method and an image capture device for motor vehicles.
  • driver assistance systems such as night vision systems or lane assistance systems are increasingly being used more recently, in which cameras are used for environmental observation.
  • the automotive environment proves to be a particularly demanding environment for the use of such cameras, which may be formed using a CMOS or CCD image sensor, for example.
  • DE 103 36 329 A1 discloses a method and a device for improving the visibility in a motor vehicle.
  • Night vision systems are able to naturally display the environment illuminated by near-infrared headlamps using a camera.
  • this In order for the driver of the motor vehicle to be able to compare the surroundings with the monitor image of the night vision system, this must be aligned in three degrees of freedom, namely horizontal displacement, vertical displacement and rotation about the axis perpendicular to the monitor image, as is generally the case after installation of the camera There is a misalignment due to installation tolerances.
  • the necessary displacements are often - set up at the same time as the functional test of the night vision system - by means of a device body, which is provided with two painted circles.
  • the image adjustment method according to the invention for a video image which is detected continuously by means of an image sensor of a first camera of a motor vehicle by pixels arranged in image lines from the surroundings of the motor vehicle and displayed on a display device of the motor vehicle, with respect to a rotation relative to at least one reference object, wherein a first step, a measurement of the video image by means of the at least one reference object is carried out, being determined as the measurement result, a required rotation angle of the video image relative to the reference object, which in a second step from the determined required rotation angle, a corresponding shear factor for the image lines, in particular Considering the line width, is determined, and then in a third step, an image processing device stores the shear factor and used for the continuous shearing of the image lines has the Advantage that can be dispensed with a complex mechanical device of the night image with respect to the rotation or rotation.
  • a mechanic-free method for rotating a night vision image is proposed.
  • the image lines are sheared in stages.
  • a line shearing is included in the transmission of the recorded images.
  • the image adjustment method according to the invention can be carried out once, for example in the manufacturer's plant, the image processing device constantly using the same stored shear factor. Alternatively or additionally, it is possible to carry out the image adjustment process continuously, in particular at regular time intervals, during operation of the night vision system. This measure could also compensate for a malfunction resulting during operation.
  • a special device body can be used.
  • the position of the horizon and / or vertical lines, in particular of buildings can also be used as a reference object.
  • Such reference objects can be extracted from the captured video image.
  • a calibration of a stereo system is carried out such that the video object of an image sensor of a second camera of the motor vehicle is used as the reference object, the video image of the image sensor of the first camera and the video image of the image sensor of the second camera form a stereo image.
  • the Jardinjustage psychologist can also be used to set up or calibration of stereo systems. After a rotation of the video image, images can be stereoscopically compared line by line. For this purpose, a suitable search method is used. Constantly twisting stereo cameras can thus also be used as a reference object or reference.
  • the shearing of the image lines can be carried out by means of a displacement of at least one part of at least one image line in at least one adjacent image line, wherein the at least a part of the at least one image line is temporarily stored and replaced in the adjacent image line.
  • the shear thus results from the displacement of a part of a picture line.
  • the shear angle is determined from the line width and the locations of the shift. Accordingly, a partial line exchange is used for the rotary device of the video image. For example, if the last third of a 300-pixel image line is cached and placed in the next line, an angle of 1 / (300-100) rad can be achieved. For larger angles, parts of picture lines of the past and further past picture lines must be used.
  • each angle can thus be simulated. If, for example, three jumps are provided in the picture lines, the last three picture lines must at least partially be stored.
  • Claim 8 discloses an image acquisition method for motor vehicles.
  • Claim 9 relates to an image capture device for continuously capturing a video image of the environment of the motor vehicle.
  • a user-programmable logic module for example FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit) is used as the image processing device.
  • the partial line replacement is calculated by the image processing device.
  • FIG. 1 shows a greatly simplified block diagram of an image acquisition device according to the invention in the context of a night vision system, which is set up to carry out an image acquisition method according to the invention
  • FIG. 2 shows a greatly simplified flow diagram of the image adjustment method according to the invention
  • FIG. 3 is a simplified representation of a video image with eight lines in the original state
  • FIG. 4 shows a simplified illustration of a video image with eight image lines which has been sheared by one line
  • Figure 5 is a simplified illustration of a video image with eight image lines, which is sheared by two lines;
  • FIG. 6 shows a modified representation of the video image with eight image lines from FIG. 5;
  • FIG. 7 is a simplified illustration of a video image with eight image lines, which is sheared by three lines; and FIG. 8 shows a modified representation of the video image with eight image lines from FIG. 7.
  • FIG. 1 shows a block diagram of an image acquisition device according to the invention in the context of a night vision system of a motor vehicle, not shown, which is intended for
  • the measuring device has a first camera 10 designed as a CCD camera with an image sensor 10a designed as a CCD sensor. In further embodiments not shown, this could also be, for example, a CMOS camera or the like.
  • the camera 10 is sensitive to infrared light.
  • the camera 10 is sensitive to light in the near infrared range, that is to say preferably in the wavelength range between 800 nm and 1000 nm.
  • the night vision system preferably comprises at least one near-infrared headlight.
  • An image processing device 12 is connected to the camera 10 via a signal line 20. Furthermore, as indicated by dashed lines in FIG.
  • the image processing device 12 could also be connected via other signal lines 20 to other vehicle systems, such as, in particular, an information system 16 or a second camera 18 in the context of a stereo system. Furthermore, the image processing device 12 is connected via a further signal line 20 to a display device of the motor vehicle.
  • the camera 10 may be arranged, for example, on the windscreen of the motor vehicle, since then the environment of the motor vehicle, in particular in the direction of travel, can be detected continuously.
  • the image processing device 12 may have a plurality of functional modules not shown in greater detail, which are realized as programs or program steps of at least one microprocessor in the image processing device 12 and / or by means of programmable logic, in particular ASIC and / or FPGA.
  • the display device 14 is a driver-visible display and / or a head-up display.
  • the data traffic takes place via the signal lines 20 electrically and / or optically and / or by radio, wherein the signal lines 20 can be a single-wire line and / or a two-wire line and / or a multi-wire line.
  • the signal lines 20 are alternatively or additionally designed as a bus line.
  • the image capture device is accordingly provided with the camera 10 and the image processing device 12 which processes the video images captured by the image sensor 10a of the camera 10 for display on the display device 14 of the motor vehicle.
  • the image processing device 12 is for carrying out the erfmdungsdorfjustagebacters set up.
  • FIG. 2 shows a greatly simplified flow chart of the image adjustment method according to the invention for a video image, which is detected continuously by means of the image sensor 10a of the first camera 10 of the motor vehicle through pixels in the surroundings of the motor vehicle arranged in image lines Z1-Z8 (see FIGS Display device 14 of the motor vehicle is shown, relative to at least one reference object relative rotation, wherein in a first step A, a measurement of the video image by means of the at least one reference object is carried out, being determined as the measurement result a required rotation angle of the video image relative to the reference object, then, in a second step B, a corresponding shear factor for the image lines Z1-Z8, in particular taking into account the line width, is determined from the determined required rotation angle, and then, in a third step C, the image processing device 12 stores the shear factor and used for continuous shear of image lines Zl - Z8.
  • the image adjustment method according to the invention can be carried out once at the factory or continuously, as indicated by the dashed arrow in FIG. 2, at regular time intervals during operation.
  • a reference object the position of the horizon and / or vertical lines, in particular of buildings, which can be extracted from the captured video image can be used.
  • a device body can be used as a reference object.
  • a calibration of a stereo system can be carried out using the image adjustment method such that the video image of an image sensor (not shown) of the second camera 18 of the motor vehicle is used as the reference object, the video image of the image sensor 10a of the first camera 10 and the video image of the image sensor of the second Camera 18 to form a stereo image.
  • the shear of the image lines Zl - Z8 by means of a displacement of at least one part of at least one image line Z1-Z8 into at least one adjacent image line Z1-Z8, wherein the at least one part of the at least one image line Z1-Z8 is temporarily stored and replaced in the adjacent image line Z1-Z8.
  • a corresponding interpolation can be performed on adjacent sheared image lines Z1-Z8.
  • An image acquisition method for motor vehicles proceeds on the image processing device 12, wherein a video image of the environment of the motor vehicle is continuously detected by pixels of the image sensor 10a arranged in image lines Z1-Z8 by means of the image sensor 10a of the camera 10 and a shear of the image lines Z1-Z8 with a predetermined shearing factor is continuously performed by the image processing device 12 for permanent adjustment of the video image with respect to a relative to at least one reference object relative rotation.
  • FIGS. 3 to 8 the sequence of shearing of the image lines Z1-Z8 is illustrated in principle.
  • FIG. 3 shows a video image with eight lines Z1-Z8 in the original state.
  • the video image with the image lines Z1-Z8 has been sheared by one image line.
  • an oblique line between the two image lines Z1 and Z2 was interpolated (for example only indicated for the image lines Z1 and Z2) in order to obtain a smooth transition.
  • shear is in both directions, i. H. both down and up possible.
  • the video image with the image lines Z1-Z8 has been sheared by two image lines, for example the second part of the image line Z2 has been moved to the second part of the image line Z1, etc.
  • the hatched parts are cut off, so to speak, ie a skew of one image line in the number of lines needed.
  • Along the oblique lines is again interpolated in order to obtain a smooth transition (indicated by way of example only for the image lines Z1 to Z3).
  • the video image with the image lines Z1-Z8 in FIGS. 7 and 8 has been sheared by three image lines.
  • the hatched parts are also cut off, d. H. you need a shear reserve of two lines in the number of lines.
  • interpolation is again effected between two picture lines in order to obtain a smooth transition (for example, only indicated for the picture lines Z1 to Z4).

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un procédé de réglage d'image concernant une rotation relative à au moins un objet de référence et destiné à une image vidéo qui est saisie continuellement depuis l'environnement d'un véhicule à moteur au moyen d'un capteur d'image (10a) d'une première caméra (10) du véhicule à moteur par le biais de pixels disposés en lignes de l'image et qui est représentée sur un dispositif d'affichage (14) du véhicule. Une première étape consiste à mesurer l'image vidéo au moyen du ou des objets de référence, le résultat de mesure déterminé étant un angle de rotation nécessaire de l'image vidéo par rapport à l'objet de référence. Ensuite, une deuxième étape consiste à déterminer, à partir de l'angle de rotation nécessaire déterminé, un facteur de déformation correspondant pour les lignes de l'image, en particulier en tenant compte de la largeur des lignes. Ensuite, dans une troisième étape, un dispositif de traitement d'image (12) mémorise le facteur de déformation et l'utilise pour la déformation continue des lignes de l'image.
EP08870994A 2008-01-15 2008-11-10 Procédé de réglage d'image destiné à une image vidéo Withdrawn EP2243301A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008004370A DE102008004370A1 (de) 2008-01-15 2008-01-15 Bildjustageverfahren für ein Videobild
PCT/EP2008/065240 WO2009089932A1 (fr) 2008-01-15 2008-11-10 Procédé de réglage d'image destiné à une image vidéo

Publications (1)

Publication Number Publication Date
EP2243301A1 true EP2243301A1 (fr) 2010-10-27

Family

ID=40254563

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08870994A Withdrawn EP2243301A1 (fr) 2008-01-15 2008-11-10 Procédé de réglage d'image destiné à une image vidéo

Country Status (3)

Country Link
EP (1) EP2243301A1 (fr)
DE (1) DE102008004370A1 (fr)
WO (1) WO2009089932A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008040985B4 (de) * 2008-08-05 2021-05-27 Robert Bosch Gmbh Verfahren zur Kalibrierung eines Mehrkamerasystems
DE102018216707A1 (de) 2018-09-28 2020-04-02 Ibeo Automotive Systems GmbH Umfelderkennungssystem sowie Verfahren für ein Umfelderkennungssystem

Citations (3)

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Publication number Priority date Publication date Assignee Title
WO1995029461A1 (fr) * 1994-04-15 1995-11-02 David Sarnoff Research Center, Inc. Procede et appareil pour effectuer une rotation ou une modification de la taille d'une image
WO2002050770A1 (fr) * 2000-12-21 2002-06-27 Robert Bosch Gmbh Procede et dispositif permettant de compenser un defaut d'alignement d'un dispositif de production d'images
JP2006285575A (ja) * 2005-03-31 2006-10-19 Fuji Photo Film Co Ltd 画像処理方法、プログラム、並びに画像処理システム

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DE10115043A1 (de) * 2000-04-25 2002-04-04 Iteris Inc Verfahren und Vorrichtung zur Kalibrierung eines Kamerasystems, insbesondere eines auf einem Fahrzeug angeordneten Kamerasystems
US6915008B2 (en) * 2001-03-08 2005-07-05 Point Grey Research Inc. Method and apparatus for multi-nodal, three-dimensional imaging
DE10246067B4 (de) * 2002-10-02 2008-01-03 Robert Bosch Gmbh Verfahren und Vorrichtung zur Kalibrierung eines Bildsensorsystems in einem Kraftfahrzeug
DE10304703B4 (de) * 2003-02-06 2023-03-16 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Sichtbarmachung der Umgebung eines Fahrzeugs mit umgebungsabhängiger Fusion eines Infrarot- und eines Visuell-Abbilds
DE10336329A1 (de) 2003-08-07 2005-03-10 Bosch Gmbh Robert Verfahren und Vorrichtung zur Verbesserung der Sicht in einem Kraftfahrzeug
DE102004033468A1 (de) * 2004-06-05 2005-12-22 Adc Automotive Distance Control Systems Gmbh Verfahren zur Kalibrierung einer Kamera
DE102004048400A1 (de) * 2004-10-01 2006-04-06 Robert Bosch Gmbh Verfahren für die Erfassung einer optischen Struktur
FR2896219B1 (fr) * 2006-01-19 2008-02-22 Valeo Vision Sa Procede de reglage de l'orientation d'une camera installee dans un vehicule et systeme de mise en oeuvre de ce procede

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Publication number Priority date Publication date Assignee Title
WO1995029461A1 (fr) * 1994-04-15 1995-11-02 David Sarnoff Research Center, Inc. Procede et appareil pour effectuer une rotation ou une modification de la taille d'une image
WO2002050770A1 (fr) * 2000-12-21 2002-06-27 Robert Bosch Gmbh Procede et dispositif permettant de compenser un defaut d'alignement d'un dispositif de production d'images
JP2006285575A (ja) * 2005-03-31 2006-10-19 Fuji Photo Film Co Ltd 画像処理方法、プログラム、並びに画像処理システム

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Title
See also references of WO2009089932A1 *

Also Published As

Publication number Publication date
WO2009089932A1 (fr) 2009-07-23
DE102008004370A1 (de) 2009-07-16

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