FR3118253B1 - Système et procédé de calcul d’une image finale d’un environnement d’un véhicule - Google Patents

Système et procédé de calcul d’une image finale d’un environnement d’un véhicule Download PDF

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Publication number
FR3118253B1
FR3118253B1 FR2013460A FR2013460A FR3118253B1 FR 3118253 B1 FR3118253 B1 FR 3118253B1 FR 2013460 A FR2013460 A FR 2013460A FR 2013460 A FR2013460 A FR 2013460A FR 3118253 B1 FR3118253 B1 FR 3118253B1
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FR
France
Prior art keywords
image
environment
captured
vehicle
icorr2
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.)
Active
Application number
FR2013460A
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English (en)
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FR3118253A1 (fr
Inventor
Andrea Ancora
Fabrizio Tamatis
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.)
Renault SAS
Original Assignee
Renault SAS
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 Renault SAS filed Critical Renault SAS
Priority to FR2013460A priority Critical patent/FR3118253B1/fr
Priority to CN202180084944.XA priority patent/CN116685998A/zh
Priority to US18/257,778 priority patent/US20240107169A1/en
Priority to EP21820553.2A priority patent/EP4264535A1/fr
Priority to PCT/EP2021/083198 priority patent/WO2022128413A1/fr
Publication of FR3118253A1 publication Critical patent/FR3118253A1/fr
Application granted granted Critical
Publication of FR3118253B1 publication Critical patent/FR3118253B1/fr
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Classifications

    • 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
    • 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
    • G06T3/08—Projecting images onto non-planar surfaces, e.g. geodetic screens
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G06V10/247—Aligning, centring, orientation detection or correction of the image by affine transforms, e.g. correction due to perspective effects; Quadrilaterals, e.g. trapezoids
    • 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
    • G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • G06V10/803—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of input or preprocessed data
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
    • 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
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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
    • 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
    • G06T2207/30261—Obstacle
    • 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
    • G06T2207/30264—Parking

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Health & Medical Sciences (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)
  • Geometry (AREA)

Abstract

L’invention propose un procédé de calcul d’une image finale d’un environnement d’un véhicule, à partir d’au moins une image capturée dans une première portion angulaire de l’environnement du véhicule par au moins une caméra et une distance entre le véhicule et un point de l’environnement déterminée dans une deuxième portion angulaire située dans une des premières portions angulaires par au moins un capteur de mesure, ledit procédé comprenant : une étape (100) de capture d’une image pour générer une image capturée (I1, I2) de l’environnement situé dans la première portion angulaire associée à ladite caméra, pour chaque image capturée (I1, I2), une étape (200) de correction d’une distorsion dans l’image capturée pour générer une image corrigée (Icorr1, Icorr2) ;pour chaque image corrigée (Icorr1, Icorr2), une étape (300) de transformation de perspective de l’image corrigée (Icorr1, Icorr2) à partir d’une matrice stockant une distance pré-calculée entre la caméra et un point de l’environnement correspondant;une étape (400) d’addition des images transformées (Itrans1, Itrans2) pour obtenir l’image finale (Ifin1). Selon l’invention, l’étape (300) de transformation de perspective comprend une étape (500) de mise à jour de la distance pré-calculée par la distance déterminée par le capteur de mesure. Figure pour l’abrégé : Fig. 2
FR2013460A 2020-12-17 2020-12-17 Système et procédé de calcul d’une image finale d’un environnement d’un véhicule Active FR3118253B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR2013460A FR3118253B1 (fr) 2020-12-17 2020-12-17 Système et procédé de calcul d’une image finale d’un environnement d’un véhicule
CN202180084944.XA CN116685998A (zh) 2020-12-17 2021-11-26 用于计算车辆周围区域的最终图像的系统和方法
US18/257,778 US20240107169A1 (en) 2020-12-17 2021-11-26 System and method for computing a final image of an area surrounding a vehicle
EP21820553.2A EP4264535A1 (fr) 2020-12-17 2021-11-26 Système et procédé de calcul d'une image finale d'un environnement d'un véhicule
PCT/EP2021/083198 WO2022128413A1 (fr) 2020-12-17 2021-11-26 Système et procédé de calcul d'une image finale d'un environnement d'un véhicule

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2013460 2020-12-17
FR2013460A FR3118253B1 (fr) 2020-12-17 2020-12-17 Système et procédé de calcul d’une image finale d’un environnement d’un véhicule

Publications (2)

Publication Number Publication Date
FR3118253A1 FR3118253A1 (fr) 2022-06-24
FR3118253B1 true FR3118253B1 (fr) 2023-04-14

Family

ID=74592234

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2013460A Active FR3118253B1 (fr) 2020-12-17 2020-12-17 Système et procédé de calcul d’une image finale d’un environnement d’un véhicule

Country Status (5)

Country Link
US (1) US20240107169A1 (fr)
EP (1) EP4264535A1 (fr)
CN (1) CN116685998A (fr)
FR (1) FR3118253B1 (fr)
WO (1) WO2022128413A1 (fr)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190349571A1 (en) * 2018-05-11 2019-11-14 Ford Global Technologies, Llc Distortion correction for vehicle surround view camera projections
US10796402B2 (en) * 2018-10-19 2020-10-06 Tusimple, Inc. System and method for fisheye image processing

Also Published As

Publication number Publication date
FR3118253A1 (fr) 2022-06-24
CN116685998A (zh) 2023-09-01
EP4264535A1 (fr) 2023-10-25
WO2022128413A1 (fr) 2022-06-23
US20240107169A1 (en) 2024-03-28

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