EP2449507A1 - Bildverarbeitungsverfahren für ein fahrerassistenzsystem eines kraftfahrzeugs zur detektion und klassifikation wenigstens eines teils wenigstens eines vorgegebenen bildelements - Google Patents
Bildverarbeitungsverfahren für ein fahrerassistenzsystem eines kraftfahrzeugs zur detektion und klassifikation wenigstens eines teils wenigstens eines vorgegebenen bildelementsInfo
- Publication number
- EP2449507A1 EP2449507A1 EP10726950A EP10726950A EP2449507A1 EP 2449507 A1 EP2449507 A1 EP 2449507A1 EP 10726950 A EP10726950 A EP 10726950A EP 10726950 A EP10726950 A EP 10726950A EP 2449507 A1 EP2449507 A1 EP 2449507A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- image
- image processing
- scale
- processing method
- invariant
- 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.)
- Ceased
Links
Classifications
-
- 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
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/211—Selection of the most significant subset of features
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/771—Feature selection, e.g. selecting representative features from a multi-dimensional feature space
Definitions
- Image processing method for a driver assistance system of a motor vehicle for detecting and classifying at least a part of at least one predetermined picture element
- the invention relates to an image processing method for a driver assistance system of a motor vehicle for detecting and classifying at least one part of at least one predetermined picture element having a traffic sign or parts of a traffic sign in at least one digital image to be searched by an image sensor of the driver assistance system
- the invention relates to a computer program, a computer program product and a device for carrying out such an image processing method as a computer program.
- DE 198 42 176 A1 discloses a method for detecting traffic signs in the surroundings of a vehicle and for navigation of the vehicle, in which traffic sign recognition data are generated when traffic signs are detected.
- the driver assistance system can usually first of all determine the shape, eg the shape of the vehicle. B. a circle for speed limits, in a, in particular detected by an image sensor of the driver assistance system image are detected. This is usually also possible for American traffic signs (eg rectangle). Subsequently, the image sections are normalized in terms of their brightness to minimize influences of the lighting situation.
- image sections are normalized with regard to their sizes to the stored pictograms of the traffic signs to be classified.
- the pictograms are compared with the image sections by gray-scale comparisons, and if they match sufficiently, the image section is recognized as a traffic sign.
- Supporting motion information can be considered to allow a distinction of, for example, in the rear of trucks or buses mounted traffic signs of static, valid traffic signs.
- the procedure described above is only conditionally useable for US traffic signs in the United States of America since the mentioned variety of variants of the traffic signs increases the number of pictograms to be stored, provided that they can all be found in advance, and thus the computation effort is extremely high.
- An alternative possibility would be, within the detected traffic signs, the individual characters, d. H. Letters and numbers, so to speak, and to interpret OCR (Optical Character Recognition / OCR) in the sense of optical character recognition.
- OCR Optical Character Recognition / OCR
- SIFT scale-invariant feature transformation
- 6,71 1, 293 B1 is a method and apparatus for identifying scale invariant features in an image, and further discloses a method and apparatus for using such scale invariant features to locate an object in an image.
- an image processing method for a driver assistance system of a motor vehicle for detecting and classifying at least one part of at least one predetermined picture element having a traffic sign or parts of a traffic sign is proposed in at least one digital image to be searched by an image sensor of the driver assistance system, wherein for detection and classifying the at least one part of the at least one predetermined picture element in the at least one digital image to be searched from at least one image region of the at least one digital image to be searched first scale invariant image features and their relative geometric arrangement to each other, after which the first scale invariant image features and their relative geometric arrangement to each other of a classifier with stored and / or learned from the at least one predetermined pixel calculated second scale-invariant image features and their relative geometric arrangement are compared to each other, and as a result of the comparison with sufficient agreement, the at least one part of the at least one predetermined pixel in the at least one digital image to be searched is detected and classified.
- the measures according to the invention can advantageously be used to classify image parts on the basis of
- a classifier for example, a neural network can be used. This forms the basis for the classification and / or the search.
- the digital image in particular the image sensor of the driver assistance system, in which the traffic sign or its lettering, numbers or
- the scale invariant image features are calculated. Subsequently, since the scale-invariant image features can be unambiguously assigned to each other, the scale-invariant image features found in the image area can be compared with the stored or learned scale-invariant image features. For example, algorithms such as those described in Berthold KP Horn, "Closed-form Solution of Absolute Orientation Using Unit Quaternions", Journal of the Optical Society of America A, VoI 4, pages 629-642, April 1987 are suitable. This can be done for several image areas. Basically, the entire digital image can be searched or scanned. Optionally, only a part of the traffic sign, z. B.
- the scale-invariant image features can also be used directly for tracking image areas with objects after detection. This advantageously eliminates the need to calculate additional features for tracking compared to traditional methods.
- the image processing method according to the invention is suitable for the classification and detection of image areas with any geometrical arrangements of scale-invariant image features to be found, and is not limited to lettering or numbers.
- the second scale-invariant image features and their relative geometric arrangement to each other in a training step from the at least one predetermined pixel calculated using different versions of the at least one predetermined pixel, in particular with different views or fonts of the traffic sign and from the classifier saved and / or learned.
- the classifier can be confronted, for example, with different views or embodiments in one training step. All possible scale-invariant image features are calculated and corresponding answers (result of the comparison positive or negative) are given.
- a neural network could be used as classifier.
- first scale-invariant image features and the second scale-invariant image features are determined by means of the scale scale mentioned in the introduction.
- SIFT method Invariant Feature Transform method
- SURF method Speeded-Up Robust Features method
- the at least one image area is identified in advance by a search for specific geometric shapes in the at least one digital image to be searched.
- image areas which z. B. by means of a geometric search for certain shapes such as rectangles, circles or the like, the computational effort can be further reduced.
- the speed of the system is also increased.
- a measure of the correctness of the detection and classification is determined.
- a measure can arise in the case of geometric deviations (eg another font) which can be used as a threshold for rejecting the classification or detection.
- the detection and classification can be discarded if the measure of the correctness of the detection and classification falls below a predetermined threshold value.
- the number of pixels of the second scale-invariant image features that can be assigned to the pixels of the first scale-invariant image features can be used.
- a self-motion determined from sequences of the digital images to be searched can be taken into account. Accordingly, analyzes in the image sequences can also be consulted.
- the at least one predetermined picture element may have at least one lettering of a traffic sign.
- the claims specify a computer program and a computer program product with program code means in order to carry out the image processing method according to the invention.
- a device in particular a driver assistance system of a motor vehicle having at least one image sensor and an image processing device connected thereto, is also proposed.
- the image processing method according to the invention is preferably realized as a computer program on an image processing device of a driver assistance system of a motor vehicle, although other solutions are of course also possible.
- the computer program can be stored with a memory element (eg ROM, EEPROM or the like) of the image processing device.
- the image processing method is executed.
- the image processing device may include a microcomputer having a microprocessor, a programmable logic array (PID), an application specific integrated circuit (ASIC), a digital signal processor (DSP), or the like.
- the image processing device can be provided on a control unit of the driver assistance system.
- the computer program may be on a computer-readable medium (floppy disk, CD, DVD, hard disk, USB memory stick, memory card or the like) or an Internet server as
- Computer program product be stored and transferred from there into the memory element of the image processing device.
- FIG. 1 shows a schematic representation of a driver assistance system of a motor vehicle
- FIG. 2 shows a basic representation of a digital image of an image sensor of the driver assistance system for illustrating an image processing method according to the invention
- FIG. 3 is a simplified block diagram of the image processing method according to the invention.
- 4 shows a basic representation of different views or embodiments of a traffic sign to illustrate the image processing method according to the invention. Description of exemplary embodiments
- FIG. 1 shows a driver assistance system 10 of a motor vehicle 1 1 indicated by dashed lines and an image sensor 12 which is connected to an evaluation unit or image processing device 14 via an image sensor signal line 13.
- the image processing device 14 is via an output signal line
- image sensor 12 for example, CCD or CMOS cameras, but also thermal imaging devices or the like can be used. It is also possible to provide further image sensors 12 in other exemplary embodiments which are not shown, in order to be able to generate stereoscopic images, for example.
- the image sensor 12 transmits digital images of the observed scene to the image processing device 14 via the image sensor signal line 13.
- the image processing device 13 generates on the output signal line 15 an output signal which is electrically, digitally, acoustically and / or visually for display, information or storage to the driver assistance system 10 is transmitted.
- the driver assistance system 10 is a driver information system that recognizes traffic signs and displays them to the driver.
- the driver assistance system 10 could also be designed, for example, as an adaptive cruise control device for the motor vehicle 11.
- Such systems are also referred to as ACC (Adaptive Cruise Control) systems.
- ACC Adaptive Cruise Control
- a digital image 16 of the image sensor 12 is shown in simplified form in FIG. 2 to illustrate an image processing method according to the invention.
- the image processing method according to the invention for the driver assistance system 10 of the motor vehicle 1 1 runs on the image processing device 14 Detection and classification of at least part of at least one predetermined picture element 17, which has a traffic sign 18 or parts of the traffic sign 18, in the digital image 16 to be searched by the image sensor 12 of the driver assistance system 10.
- a scene with a street 19 and a tree 20 is shown in the digital image 16.
- FIG. 3 shows the image processing method according to the invention, which runs on the image processing device 14, with further optional steps indicated by dashed lines as a block diagram.
- first scale-invariant image features and their relative geometric arrangement relative to one another in a method step B are calculated from one or more image regions 21 (see FIG.
- the image area 21 can be identified by a search for certain geometric shapes, in the present case a rectangle of the traffic sign 18 in the digital image 16 to be searched.
- the second scale-invariant image features and their relative geometric arrangement relative to one another are produced from the at least one predetermined image element 17 using the different embodiments 17a, 17b of the given image element 17, in particular with different views or simplified representation Lettering of the traffic sign 18 calculated and stored by the classifier and / or learned.
- the first scale-invariant image features and the second scale-invariant image features can be analyzed by means of the scale-invariant feature transform method (SIFT method) or the speeded-up robust feature method (SURF method).
- SIFT method scale-invariant feature transform method
- SURF method speeded-up robust feature method
- the driver assistance system 10 receives from the image processing device 14 the result of the detection and classification and thus information as to whether a particular traffic sign 18 has been detected in the digital image 16.
- the detection and classification is rejected if the measure of the correctness of the detection and classification falls below a predetermined threshold value.
- a measure of the correctness of the detection and classification the number of pixels of the second scale-invariant image features that can be assigned to the pixels of the first scale-invariant image features is used.
- a self-motion of the motor vehicle 1 1 determined from sequences of the digital images 16 to be searched is taken into account.
- the image processing method according to the invention is preferably realized as a computer program on the image processing device 14 of the motor vehicle 11, although other solutions are of course also possible.
- the computer program can be stored in a memory element (eg ROM, EEPROM or the like) of the image processing device 14.
- the image processing method is executed.
- the image processing device 14 may include a microcomputer with a microprocessor, a programmable integrated circuit
- the computer program can be stored on a computer-readable data medium (floppy disk, CD, DVD, hard disk, USB memory stick, memory card or the like) or an Internet server as a computer program product and can be transferred from there into the memory element of the image processing device 14.
- a computer-readable data medium floppy disk, CD, DVD, hard disk, USB memory stick, memory card or the like
- an Internet server as a computer program product and can be transferred from there into the memory element of the image processing device 14.
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Artificial Intelligence (AREA)
- Multimedia (AREA)
- Evolutionary Computation (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
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Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009027275A DE102009027275A1 (de) | 2009-06-29 | 2009-06-29 | Bildverarbeitungsverfahren für ein Fahrerassistenzsystem eines Kraftfahrzeugs zur Detektion und Klassifikation wenigstens eines Teils wenigstens eines vorgegebenen Bildelements |
PCT/EP2010/058688 WO2011000726A1 (de) | 2009-06-29 | 2010-06-21 | Bildverarbeitungsverfahren für ein fahrerassistenzsystem eines kraftfahrzeugs zur detektion und klassifikation wenigstens eines teils wenigstens eines vorgegebenen bildelements |
Publications (1)
Publication Number | Publication Date |
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EP2449507A1 true EP2449507A1 (de) | 2012-05-09 |
Family
ID=42790904
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10726950A Ceased EP2449507A1 (de) | 2009-06-29 | 2010-06-21 | Bildverarbeitungsverfahren für ein fahrerassistenzsystem eines kraftfahrzeugs zur detektion und klassifikation wenigstens eines teils wenigstens eines vorgegebenen bildelements |
Country Status (6)
Country | Link |
---|---|
US (1) | US9030558B2 (de) |
EP (1) | EP2449507A1 (de) |
JP (1) | JP2012531685A (de) |
CN (1) | CN102549602A (de) |
DE (1) | DE102009027275A1 (de) |
WO (1) | WO2011000726A1 (de) |
Cited By (1)
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CN104021369A (zh) * | 2014-04-30 | 2014-09-03 | 南京农业大学 | 基于数字图像处理技术的单株水稻穗部籽粒数计数方法 |
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CA2425112C (en) | 2000-10-06 | 2011-09-27 | The Trustees Of Columbia University In The City Of New York | Massive parallel method for decoding dna and rna |
SM200800017B (it) * | 2008-03-18 | 2010-11-12 | Saulle Mattei | Sistema di controllo interattivo di una rete stradale urbana ed extraurbana soggetta a norme e/o limitazioni di sicurezza e funzionalità. |
JP5427202B2 (ja) * | 2011-03-29 | 2014-02-26 | 富士重工業株式会社 | 車両用運転支援装置 |
CN102982543A (zh) * | 2012-11-20 | 2013-03-20 | 北京航空航天大学深圳研究院 | 一种多源遥感图像配准方法 |
CN103971087B (zh) * | 2013-07-12 | 2017-04-19 | 湖南纽思曼导航定位科技有限公司 | 一种实时搜索及识别交通标志的方法及装置 |
US10089330B2 (en) | 2013-12-20 | 2018-10-02 | Qualcomm Incorporated | Systems, methods, and apparatus for image retrieval |
KR101596299B1 (ko) * | 2014-01-06 | 2016-02-22 | 현대모비스 주식회사 | 교통 표지판 인식 방법 및 장치 |
WO2016080452A1 (ja) * | 2014-11-19 | 2016-05-26 | エイディシーテクノロジー株式会社 | 自動運転制御装置 |
US9937923B2 (en) * | 2016-01-30 | 2018-04-10 | Bendix Commercial Vehicle Systems Llc | System and method for providing a speed warning and speed control |
DE102016215538A1 (de) * | 2016-08-18 | 2018-03-08 | Robert Bosch Gmbh | Verfahren zum Transformieren von Sensordaten |
DE102016118538A1 (de) * | 2016-09-29 | 2018-03-29 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Klassifizieren eines Verkehrszeichens in einem Umgebungsbereich eines Kraftfahrzeugs, Rechenvorrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug |
CN108284838A (zh) * | 2018-03-27 | 2018-07-17 | 杭州欧镭激光技术有限公司 | 一种用于检测车辆外部环境信息的检测系统及检测方法 |
US10891501B2 (en) * | 2019-01-28 | 2021-01-12 | Uber Technologies, Inc. | Automatically associating road sign information with road segments using image data |
US11293762B2 (en) * | 2019-06-18 | 2022-04-05 | Here Global B.V. | System and methods for generating updated map data |
CN111160466B (zh) * | 2019-12-30 | 2022-02-22 | 深圳纹通科技有限公司 | 一种基于直方图统计的特征匹配算法 |
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DE19831413C2 (de) * | 1998-07-14 | 2002-03-07 | Daimler Chrysler Ag | Bildverarbeitungsverfahren und Vorrichtungen zur Erkennung von Objekten im Verkehr |
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DE19852631C2 (de) * | 1998-11-14 | 2001-09-06 | Daimler Chrysler Ag | Vorrichtung und Verfahren zur Verkehrszeichenerkennung |
US6711293B1 (en) | 1999-03-08 | 2004-03-23 | The University Of British Columbia | Method and apparatus for identifying scale invariant features in an image and use of same for locating an object in an image |
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JP2006235752A (ja) | 2005-02-22 | 2006-09-07 | Asahi Engineering Kk | オブジェクト認識装置及びその制御方法、並びに、コンピュータプログラム及びコンピュータ可読記憶媒体 |
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2009
- 2009-06-29 DE DE102009027275A patent/DE102009027275A1/de active Pending
-
2010
- 2010-06-21 WO PCT/EP2010/058688 patent/WO2011000726A1/de active Application Filing
- 2010-06-21 CN CN2010800292391A patent/CN102549602A/zh active Pending
- 2010-06-21 EP EP10726950A patent/EP2449507A1/de not_active Ceased
- 2010-06-21 US US13/380,764 patent/US9030558B2/en active Active
- 2010-06-21 JP JP2012518066A patent/JP2012531685A/ja active Pending
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Publication number | Priority date | Publication date | Assignee | Title |
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CN104021369A (zh) * | 2014-04-30 | 2014-09-03 | 南京农业大学 | 基于数字图像处理技术的单株水稻穗部籽粒数计数方法 |
Also Published As
Publication number | Publication date |
---|---|
WO2011000726A1 (de) | 2011-01-06 |
US20120162429A1 (en) | 2012-06-28 |
JP2012531685A (ja) | 2012-12-10 |
US9030558B2 (en) | 2015-05-12 |
DE102009027275A1 (de) | 2010-12-30 |
CN102549602A (zh) | 2012-07-04 |
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