EP2795537A1 - Détermination d'un profil de hauteur d'un environnement de véhicule au moyen d'un appareil de prise de vues 3d - Google Patents
Détermination d'un profil de hauteur d'un environnement de véhicule au moyen d'un appareil de prise de vues 3dInfo
- Publication number
- EP2795537A1 EP2795537A1 EP12822964.8A EP12822964A EP2795537A1 EP 2795537 A1 EP2795537 A1 EP 2795537A1 EP 12822964 A EP12822964 A EP 12822964A EP 2795537 A1 EP2795537 A1 EP 2795537A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- camera
- determined
- height profile
- jump
- 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
- 238000000034 method Methods 0.000 claims abstract description 19
- 230000007613 environmental effect Effects 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 claims description 4
- 238000003708 edge detection Methods 0.000 description 5
- 239000004575 stone Substances 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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
Definitions
- the 3D camera is preferably a stereo camera or a photonic mixer camera or PMD sensor.
- the invention further comprises a device for determining a height profile of a vehicle environment.
- a 3D camera and evaluation means for determining at least one jump in the course of the altitude of the surrounding surface transversely to the direction of travel of the vehicle are provided for this purpose.
- a jump (7, 8) is detected in the height profile, the point / area can be supplied ⁇ arranged in a 2D image of a single image pickup unit of the stereo camera in the height map to a pixel / area.
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)
Abstract
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011056671A DE102011056671A1 (de) | 2011-12-20 | 2011-12-20 | Bestimmung eines Höhenprofils einer Fahrzeugumgebung mittels einer 3D-Kamera |
PCT/DE2012/100384 WO2013091620A1 (fr) | 2011-12-20 | 2012-12-17 | Détermination d'un profil de hauteur d'un environnement de véhicule au moyen d'un appareil de prise de vues 3d |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2795537A1 true EP2795537A1 (fr) | 2014-10-29 |
Family
ID=47678433
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP12822964.8A Ceased EP2795537A1 (fr) | 2011-12-20 | 2012-12-17 | Détermination d'un profil de hauteur d'un environnement de véhicule au moyen d'un appareil de prise de vues 3d |
Country Status (6)
Country | Link |
---|---|
US (1) | US20140320644A1 (fr) |
EP (1) | EP2795537A1 (fr) |
JP (1) | JP6238905B2 (fr) |
KR (1) | KR20140109990A (fr) |
DE (2) | DE102011056671A1 (fr) |
WO (1) | WO2013091620A1 (fr) |
Families Citing this family (20)
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 (fr) | 2014-10-10 | 2022-12-07 | Continental Autonomous Mobility Germany GmbH | Système de reconnaissance d'image pour véhicule et procédé correspondant |
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 |
DE112017007462T5 (de) * | 2017-04-20 | 2020-01-02 | Mitsubishi Electric Corporation | Parkassistenzsteuervorrichtung und Parkassistenzsteuerverfahren |
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 |
DE102019204318A1 (de) * | 2019-03-28 | 2020-10-01 | Conti Temic Microelectronic Gmbh | Automatische Erkennung und Klassifizierung von Adversarial Attacks |
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 |
AU2003263131A1 (en) * | 2002-08-09 | 2004-03-19 | Automotive Distance Control Systems Gmbh | Means of transport with a three-dimensional distance camera and method for the operation thereof |
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 |
US20100118116A1 (en) * | 2007-06-08 | 2010-05-13 | Wojciech Nowak Tomasz | Method of and apparatus for producing a multi-viewpoint panorama |
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 JP JP2014547716A patent/JP6238905B2/ja active Active
- 2012-12-17 KR KR1020147020246A patent/KR20140109990A/ko not_active Application Discontinuation
- 2012-12-17 US US14/366,052 patent/US20140320644A1/en not_active Abandoned
- 2012-12-17 EP EP12822964.8A patent/EP2795537A1/fr not_active Ceased
- 2012-12-17 DE DE112012004831.8T patent/DE112012004831A5/de active Pending
- 2012-12-17 WO PCT/DE2012/100384 patent/WO2013091620A1/fr active Application Filing
Non-Patent Citations (2)
Title |
---|
None * |
See also references of WO2013091620A1 * |
Also Published As
Publication number | Publication date |
---|---|
KR20140109990A (ko) | 2014-09-16 |
JP2015510105A (ja) | 2015-04-02 |
DE112012004831A5 (de) | 2014-08-28 |
WO2013091620A1 (fr) | 2013-06-27 |
DE102011056671A1 (de) | 2013-06-20 |
US20140320644A1 (en) | 2014-10-30 |
JP6238905B2 (ja) | 2017-11-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2795537A1 (fr) | Détermination d'un profil de hauteur d'un environnement de véhicule au moyen d'un appareil de prise de vues 3d | |
EP2888604B1 (fr) | Procédé de détermination du tracé de la voie d'un véhicule | |
DE10392601B4 (de) | Verkehrsmittel mit einer 3D-Entfernungsbildkamera und Verfahren zu dessen Betrieb | |
EP1192597B1 (fr) | Procede pour detecter des objets dans le champ peripherique d'un vehicule routier jusqu'a une grande distance | |
DE102018203807A1 (de) | Verfahren und Vorrichtung zur Erkennung und Bewertung von Fahrbahnzuständen und witterungsbedingten Umwelteinflüssen | |
EP2740072B1 (fr) | Procédé de reconnaissance d'une voie de circulation au moyen d'une caméra | |
DE102015206144A1 (de) | Verfahren und Vorrichtung zum sicheren Abstellen eines Fahrzeuges | |
EP2116958B1 (fr) | Procédé et dispositif de détermination du déroulement de voie dans la zone devant un véhicule | |
EP3069296A1 (fr) | Procédé et dispositif de détermination d'un état d'une voie de circulation au moyen d'un système de caméra de véhicule | |
DE102012101085A1 (de) | Bestimmung einer Beschaffenheit einer Fahrbahnoberfläche mittels einer 3D-Kamera | |
EP2594461B1 (fr) | Procédé de détection d'une place de stationnement pour un véhicule automobile, système d'aide au stationnement et véhicule automobile équipé d'un système d'aide au stationnement | |
DE102014208673A1 (de) | Verfahren und Verkehrsüberwachungseinrichtung zum Feststellen einer Falschfahrt eines Kraftfahrzeugs | |
EP3094530A1 (fr) | Procédé et système pour évaluer le tracé d'une voie de circulation | |
DE102011117554A1 (de) | Fahrumgebungserfassungsvorrichtung | |
EP3520023B1 (fr) | Détection et validation d'objets provenant d'images séquentielles d'une caméra | |
EP3193276B1 (fr) | Dispositif de detection et procede destine a la reconnaissance d'essieux de vehicule | |
DE112021000482T5 (de) | Erkennung von fremdkörpern in einem fahrzeugweg | |
EP2715666A1 (fr) | Procédé de détermination d'un mouvement de tangage d'une caméra montée dans un véhicule et procédé de commande d'une émission lumineuse d'au moins un phare avant d'un véhicule | |
DE102017126452A1 (de) | Fahrzeugsteuersystem | |
DE102019116892A1 (de) | Fahrspurereignisantizipation durch LiDAR-Straßenbegrenzungserfassung | |
WO2019162327A2 (fr) | Procédé de calcul d'un éloignement entre un véhicule automobile et un objet | |
DE102021005933A1 (de) | Verfahren zur Erfassung eines Fahrspurverlaufs mittels eines LIDARs und Fahrzeug | |
DE102012008780B4 (de) | Verfahren und Einrichtung zur Erfassung wenigstens eines Fahrbahnrandes und Kraftfahrzeug | |
DE102019107396A1 (de) | Erfassen und Klassifizieren erhabener Fahrbahnmarkierungen unter Verwendung von LIDAR | |
EP1962245B1 (fr) | Procédé et dispositif de détermination de l'état de déplacement d'objets |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20140721 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
DAX | Request for extension of the european patent (deleted) | ||
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: LUEKE, STEFAN Inventor name: HEINRICH, STEFAN Inventor name: HEGEMANN, STEFAN |
|
17Q | First examination report despatched |
Effective date: 20151001 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R003 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED |
|
18R | Application refused |
Effective date: 20170313 |