EP3555843A1 - Rundumsichtsystem für ein fahrzeug - Google Patents

Rundumsichtsystem für ein fahrzeug

Info

Publication number
EP3555843A1
EP3555843A1 EP17807696.4A EP17807696A EP3555843A1 EP 3555843 A1 EP3555843 A1 EP 3555843A1 EP 17807696 A EP17807696 A EP 17807696A EP 3555843 A1 EP3555843 A1 EP 3555843A1
Authority
EP
European Patent Office
Prior art keywords
real camera
plane
image
camera
vehicle
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Withdrawn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
EP17807696.4A
Other languages
German (de)
English (en)
French (fr)
Inventor
Georg Arbeiter
Stefan MILZ
Johannes PETZOLD
Jörg Schrepfer
Sudhan Dhana Sekaran
Rodrigo GARCIA MARQUES
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.)
Conti Temic Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic 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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Publication of EP3555843A1 publication Critical patent/EP3555843A1/de
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/80—Geometric correction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/10—Geometric effects
    • G06T15/20—Perspective computation
    • G06T15/205—Image-based rendering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/02—Affine transformations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • 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
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • the invention relates to an all-round visibility system for a vehicle. Furthermore, the invention relates to a method for
  • Illustrations on display units of a surround system typically include a projected image of a real camera mounted on a vehicle and taking pictures of the surroundings of the vehicle. Furthermore, geometric shapes are overlaid on the projected image of the camera, with the geometric shapes being e.g. to be able to act a trajectory of the vehicle.
  • the projected image of the camera must match the overlay. However, if the camera is mounted non-centrically on the vehicle, either the overlay or the image of the camera looks distorted. Such a distorted appearance is undesirable.
  • an all-round vision system for a vehicle is provided.
  • the omnidirectional system includes at least one physical camera for capturing an image of an environment of the vehicle from a non-centered position.
  • the real camera is preferably a digital camera, which can take pictures or filming of the surroundings of the vehicle and the image recordings or filming
  • the panoramic system may also include several, e.g. include four real cameras that can be mounted on the vehicle such that individual images of the multiple real cameras can be assembled into a total surround image (e.g., a 360 ° surround image of the vehicle).
  • the at least one real camera is in particular configured to take a plurality of images of the surroundings of the vehicle from a non-centered position.
  • the present invention is explained in connection with the taking of a single image of a single camera, the explanations nevertheless also apply to the images of the plurality of images which are different from the non-centered position from the surroundings of the vehicle and which by means of at least one real one Camera can be recorded.
  • the feature of the "non-centered position" can be understood in particular to mean that the camera is mounted eccentrically and obliquely on or in the vehicle relative to an imaginary longitudinal axis of the vehicle and can detect a forward range of the vehicle.
  • the all-round vision system comprises a virtual camera, an image processing unit and a display unit.
  • the image processing unit is on the one hand communicatively connected to the real camera. On the other hand, that is
  • Image processing unit also communicative with the Display unit connected.
  • the real camera can transmit image data to the image processing unit
  • the image processing unit can process the image data and the processed image data to the
  • the image processing unit may be implemented in a software-based manner.
  • the display unit is set up to display the image recorded by the real camera in a projected manner.
  • the display unit is also configured to display at least one geometric shape as an overlay projected over the image taken by the real camera.
  • the image processing unit is configured to project the image captured by the real camera onto a first surface or plane which is perpendicular to the real camera, so that in the image recorded by the real camera perspective distortions resulting from the image
  • the image processing unit is configured to project the at least one geometric shape onto a second surface or plane which is perpendicular to the virtual camera so that the at least one geometric shape is displayed undistorted on the display unit.
  • the real camera is thus structurally physically present, whereas the virtual camera is only intended or input into the image displayed on the display unit and a virtual perspective of a user of the all-round vision system according to the invention or a vehicle with the
  • the second level is the level that is displayed on the display unit, eg on a monitor in the area of the display Dashboard of the vehicle, and is visible to a user of the vehicle.
  • the image processing unit is set up to find an affine transformation between the first plane and the second plane by means of a delta transformation between the real camera and the virtual camera, and to apply the found affine transformation to the first plane, which is that of the real one Camera includes, projected and rectified image from the real camera, so that a modified representation of the rectified image (which is contained in the first plane) of the real camera with the at least one undistorted geometric shape in the second plane
  • the delta transformation takes into account the deviations of the real camera from the virtual camera with respect to the
  • the delta transformation particularly takes into account that the real camera is mounted non-centrically on the vehicle.
  • the image of the camera which has been projected equalized to the first plane, is artificially distorted in this way as if it had been taken from a position of the virtual camera.
  • This makes it possible to display objects which are contained in the image captured by the real camera in the second plane equalized and at the same time to allow an undistorted representation of at least one geometric shape, such as a trajectory of the vehicle, as an overlay in the second plane the objects and the at least one geometric shape in the second plane are correctly aligned with each other.
  • a vehicle comprising a surround view system according to the first aspect of the invention, wherein the real camera
  • the vehicle is, for example, a motor vehicle, such as a car, bus or truck, or else a rail vehicle, a ship, an aircraft, such as a helicopter or airplane, or, for example, a bicycle.
  • a method for all-round view of an environment of a vehicle comprises capturing an image of the surroundings of the vehicle by means of the real camera and projecting the image taken by the real camera onto the first plane, which is perpendicular to the real camera, such that perspective distortions in the image captured by the real camera, which result from the non-centered position of the real camera, be equalized. Furthermore, the at least one geometric shape is projected as an overlay onto the second plane, which is perpendicular to the virtual camera, so that the at least one geometric shape is displayed undistorted on the display unit.
  • an affine transformation between the first plane and the second plane is found by means of a delta transformation between the real camera and the virtual camera, and the affine transformation found is applied to the first plane, which is the one taken, projected and equalized by the real camera Contains image of the real camera, so that a modified representation of the rectified image (which is included in the first level) the real camera is aligned with the at least one undistorted geometric shape in the second plane.
  • a program element which, when executed on a processor, instructs the processor to perform the method steps according to the method of the third aspect of the invention.
  • a fifth aspect of the invention is a
  • Program element is stored according to the fourth aspect of the invention, which, when executed on a processor, instructs the processor to perform the method steps according to the method of the third aspect of the invention.
  • Fig. 1 is a side view of a vehicle with a
  • Fig. 2 is a highly simplified plan view of the vehicle of FIG. 1 and
  • Fig. 3 is a schematic representation of a possible
  • Fig. 1 and 2 show a vehicle 1 in the form of a motor vehicle.
  • the vehicle 1 comprises at least one digital physical or real camera 2, an image processing unit 3 and a display unit 4 in the form of a monitor within the vehicle 1 in a viewing area of a user, not shown.
  • the image processing unit 3 is communicative with the real one Camera 2 and connected to the display unit 4, so that the real camera 2 can transmit captured image representing image data to the image processing unit 3, which in turn process the received image data and the processed
  • Image data can be transmitted to the display unit 4.
  • Image processing unit 3 may alternatively be integrated into the real camera 2 or the display unit 4.
  • the vehicle 1 moves on a road 5, and the real camera 2 is mounted on the vehicle 1 such that the real camera 2 can take pictures of a lead-in area 6 in an external environment of the vehicle 1.
  • the real camera 2 is mounted non-centered on the vehicle 1.
  • FIG. 2 shows a longitudinal axis L of the vehicle 1, wherein the real camera 2 is mounted laterally offset next to the longitudinal axis L of the vehicle 1 on the vehicle 1.
  • Fig. 2 further shows that the real camera 2 is skewed, i. can not be mounted parallel to the longitudinal axis L of the vehicle 1 to the vehicle.
  • the real camera 2, the image processing unit 3 and the display unit 4 together form the all-round vision system of the vehicle 1, wherein the image processing unit 3 additionally generates a nonexistent virtual camera 7.
  • FIG. 3 shows how an image of the environment 6 of the vehicle 1 taken by the real camera 2 can be processed in order to be displayed on the display unit 4 of the vehicle 1 in an all-around image of the vehicle 1.
  • the image taken by the real camera 2 contains a plurality of objects, wherein in FIG. 3 one of these objects 8 is shown very schematically.
  • the object 8 may be, for example, a bumper of another vehicle (not shown) in the forward area of the vehicle 1.
  • the image taken by the real camera 2 with the object 8 is projected onto a first surface or plane 9 which is perpendicular to the real camera 2, so that in the image captured by the real camera 2 perspective distortions resulting from the non-specific centered position of the real camera 2 result, be equalized.
  • a first modified representation 8 ⁇ of the object 8 within the first plane 9 is created.
  • the image contents of the first plane 9 are not displayed on the display unit 4 of the vehicle 1, but the image contents of a second plane 10, which will be explained below.
  • the image processing unit 3 projects at least one geometric shape 11 to 13 as an overlay on the second plane 10, which is perpendicular to the virtual camera 7, so that the second plane 10 with the at least one geometric shape 11 to 13 undistorted on the display unit 4 of the vehicle. 1 is pictured.
  • FIG. 3 by way of example, three geometric shapes are shown, which include an intended trajectory of the
  • the image processing unit 3 finds an affine one
  • Transformation T between the first plane 9 and the second plane 10 by means of a delta transformation between the real camera 2 and the virtual camera 7 and applies the found affine transformation T to the first plane 9, which is the first modified representation 8 ⁇ of the object 8 contains.
  • a second modified representation 8 ⁇ ⁇ of the object 8 is formed within the second plane 10, wherein this second modified representation 8 ⁇ ⁇ with the at least one

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Computing Systems (AREA)
  • Computer Graphics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)
  • Studio Devices (AREA)
EP17807696.4A 2016-12-15 2017-10-25 Rundumsichtsystem für ein fahrzeug Withdrawn EP3555843A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016225066.3A DE102016225066A1 (de) 2016-12-15 2016-12-15 Rundumsichtsystem für ein Fahrzeug
PCT/DE2017/200113 WO2018108213A1 (de) 2016-12-15 2017-10-25 Rundumsichtsystem für ein fahrzeug

Publications (1)

Publication Number Publication Date
EP3555843A1 true EP3555843A1 (de) 2019-10-23

Family

ID=60515069

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17807696.4A Withdrawn EP3555843A1 (de) 2016-12-15 2017-10-25 Rundumsichtsystem für ein fahrzeug

Country Status (7)

Country Link
US (1) US10904432B2 (zh)
EP (1) EP3555843A1 (zh)
JP (1) JP2020502640A (zh)
KR (1) KR102315748B1 (zh)
CN (1) CN110073415B (zh)
DE (2) DE102016225066A1 (zh)
WO (1) WO2018108213A1 (zh)

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DE102018203590A1 (de) 2018-03-09 2019-09-12 Conti Temic Microelectronic Gmbh Surroundview-System mit angepasster Projektionsfläche
EP3776485B1 (en) * 2018-09-26 2022-01-26 Coherent Logix, Inc. Any world view generation
TWI693578B (zh) * 2018-10-24 2020-05-11 緯創資通股份有限公司 影像拼接處理方法以及其系統
CN111667538B (zh) * 2020-04-20 2023-10-24 长城汽车股份有限公司 一种全景环视系统的标定方法、装置及系统
KR20230067218A (ko) 2021-11-09 2023-05-16 에이엠알오 주식회사 안전비행을 위한 항공기의 3d 영상표시 시스템
CN114633692B (zh) * 2022-03-14 2023-10-03 深圳市艾为智能有限公司 一种偏心镜头在cms系统中的应用方法

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Also Published As

Publication number Publication date
KR102315748B1 (ko) 2021-10-20
JP2020502640A (ja) 2020-01-23
KR20190096970A (ko) 2019-08-20
WO2018108213A1 (de) 2018-06-21
CN110073415A (zh) 2019-07-30
DE102016225066A1 (de) 2018-06-21
US20200112675A1 (en) 2020-04-09
US10904432B2 (en) 2021-01-26
CN110073415B (zh) 2023-08-22
DE112017004931A5 (de) 2019-06-13

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