JP2006517659A - 自動車の内外シーン3次元検出に用いられる自動車用装置 - Google Patents
自動車の内外シーン3次元検出に用いられる自動車用装置 Download PDFInfo
- Publication number
- JP2006517659A JP2006517659A JP2006502024A JP2006502024A JP2006517659A JP 2006517659 A JP2006517659 A JP 2006517659A JP 2006502024 A JP2006502024 A JP 2006502024A JP 2006502024 A JP2006502024 A JP 2006502024A JP 2006517659 A JP2006517659 A JP 2006517659A
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- JP
- Japan
- Prior art keywords
- data
- scene
- image
- computer
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- 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.)
- Pending
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- 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
- B60R1/10—Front-view mirror arrangements; Periscope arrangements, i.e. optical devices using combinations of mirrors, lenses, prisms or the like ; Other mirror arrangements giving a view from above or under the vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
Description
2 レーザ
3 受信装置
4 シーン(場面、景色)
5 物体
6 光学素子
7 レンズ
8 光学装置
9 検出装置
10 コンピュータ
11 画像処理装置
12 画像センサ
13 3Dカメラ
14 対物レンズ
Claims (8)
- 電子式検出装置(9)に連結されたLIDARセンサ(1)と、画像センサ(12)に連結され、シーン(4)の画像を記録・評価する画像処理装置(11)を備え、検出装置(9)と画像処理装置(11)とがコンピュータ(10)に連結されてシーン(4)の空間データを判別するようにしたことを特徴とする自動車用装置。
- コンピュータ(10)が、LIDARセンサ(1)の検出装置(9)からのデータを画像処理装置(11)からの2次元画像データと組み合わせて、自動車に対する遠距離範囲の物体のデータを評価するようにして成ることを特徴とする請求項1に記載の装置。
- 3Dカメラ(13)で構成される画像センサ(12)により自動車の近距離範囲の物体データとして記録され、画像処理装置(11)により評価された3次元画像データをコンピュータ(10)が受け取るようにして成ることを特徴とする請求項1又は請求項2に記載の装置。
- コンピュータ(10)がシーン(4)のデータを、車両回路網を介して自動車の安全及び/又は支援システムに送信するようにして成ることを特徴とする請求項1〜3の一つに記載の装置。
- 前記3Dカメラが飛行時間(TOF)法に従って動作するようにして成ることを特徴とする請求項3に記載の装置。
- LIDARセンサ(1)のレーザ(2)が近距離範囲及び遠距離範囲用の光学素子(6)を有して成ることを特徴とする請求項1に記載の装置。
- 近距離範囲及び遠距離範囲用の光学素子(6)が、別々に駆動されるようにした二つの光学素子又はレンズ(7)で構成されて成ることを特徴とする請求項6に記載の装置。
- LIDARセンサ(1)のレーザ(2)が赤外帯の放射線で動作し、画像センサ(12)の光源として働くようにして成ることを特徴とする請求項1〜7の一つに記載の装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10305861A DE10305861A1 (de) | 2003-02-13 | 2003-02-13 | Vorrichtung eines Kraftfahrzeuges zur räumlichen Erfassung einer Szene innerhalb und/oder außerhalb des Kraftfahrzeuges |
PCT/EP2004/050124 WO2004072677A1 (de) | 2003-02-13 | 2004-02-12 | Vorrichtung eines kraftfahrzeuges zur räumlichen erfassung einer szene innerhalb und/oder ausserhalb des kraftfahrzeuges |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2006517659A true JP2006517659A (ja) | 2006-07-27 |
Family
ID=32747770
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006502024A Pending JP2006517659A (ja) | 2003-02-13 | 2004-02-12 | 自動車の内外シーン3次元検出に用いられる自動車用装置 |
Country Status (9)
Country | Link |
---|---|
US (1) | US8416397B2 (ja) |
EP (1) | EP1592985B1 (ja) |
JP (1) | JP2006517659A (ja) |
KR (1) | KR20050099623A (ja) |
CN (1) | CN1751249A (ja) |
AT (1) | ATE392631T1 (ja) |
DE (2) | DE10305861A1 (ja) |
ES (1) | ES2304603T3 (ja) |
WO (1) | WO2004072677A1 (ja) |
Cited By (4)
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JP2012080517A (ja) * | 2010-10-01 | 2012-04-19 | Young Wee Jay | イメージ獲得ユニット、方法及び連関付けられた制御ユニット{imageacquisitionunit、acquisitionmethodandassociatedcontrolunit} |
KR101392392B1 (ko) * | 2012-06-04 | 2014-05-07 | 주식회사 와이즈오토모티브 | 레이저를 이용한 주차 보조 시스템의 주차 정보 출력 장치 |
WO2014162344A1 (ja) * | 2013-04-01 | 2014-10-09 | 株式会社ブリリアントサービス | キャリブレーションパターン、キャリブレーション方法およびキャリブレーションプログラム |
US9905024B2 (en) | 2015-08-28 | 2018-02-27 | Hyundai Motor Company | Object recognition device, vehicle having the same and method of controlling the same |
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DE102004058251A1 (de) * | 2004-12-03 | 2006-06-08 | Valeo Schalter Und Sensoren Gmbh | Verfahren zur Verarbeitung von Entfernungsdaten |
JP4513691B2 (ja) * | 2005-08-23 | 2010-07-28 | 株式会社デンソー | 撮像モジュール |
NL1032435C2 (nl) | 2006-09-05 | 2008-03-06 | Maasland Nv | Inrichting voor het automatisch melken van een melkdier. |
WO2008043852A1 (de) * | 2006-10-13 | 2008-04-17 | Continental Teves Ag & Co. Ohg | System zur bestimmung von objekten |
US7598881B2 (en) * | 2006-10-18 | 2009-10-06 | Elesys North America, Inc. | Sensor and circuit configuration for occupant detection |
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US8442755B2 (en) * | 2008-09-29 | 2013-05-14 | GM Global Technology Operations LLC | Systems and methods for preventing motor vehicle side doors from coming into contact with obstacles |
US20100201507A1 (en) * | 2009-02-12 | 2010-08-12 | Ford Global Technologies, Llc | Dual-mode vision system for vehicle safety |
US8760631B2 (en) * | 2010-01-27 | 2014-06-24 | Intersil Americas Inc. | Distance sensing by IQ domain differentiation of time of flight (TOF) measurements |
US8451139B2 (en) * | 2010-02-22 | 2013-05-28 | Cnh America Llc | System and method for coordinating harvester and transport vehicle unloading operations |
US8471908B2 (en) * | 2010-10-18 | 2013-06-25 | GM Global Technology Operations LLC | Three-dimensional mirror display system for a vehicle and method |
JP5783471B2 (ja) * | 2010-12-01 | 2015-09-24 | コニカミノルタ株式会社 | 画像合成装置 |
TW201401183A (zh) * | 2012-06-18 | 2014-01-01 | tian-xiang Chen | 深度攝影的人臉或頭部偵測方法 |
KR101401399B1 (ko) | 2012-10-12 | 2014-05-30 | 현대모비스 주식회사 | 주차 지원 장치 및 방법과 이를 이용한 주차 지원 시스템 |
GB201301281D0 (en) | 2013-01-24 | 2013-03-06 | Isis Innovation | A Method of detecting structural parts of a scene |
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SE537621C2 (sv) | 2013-09-10 | 2015-08-11 | Scania Cv Ab | Detektering av objekt genom användning av en 3D-kamera och en radar |
EP3754381A1 (en) | 2013-12-10 | 2020-12-23 | SZ DJI Technology Co., Ltd. | Sensor fusion |
GB201409625D0 (en) | 2014-05-30 | 2014-07-16 | Isis Innovation | Vehicle localisation |
US9646345B1 (en) | 2014-07-11 | 2017-05-09 | State Farm Mutual Automobile Insurance Company | Method and system for displaying an initial loss report including repair information |
CN104122561B (zh) * | 2014-07-15 | 2017-03-15 | 南京理工大学 | 一种非扫描型3d激光成像雷达 |
CN105980950B (zh) | 2014-09-05 | 2019-05-28 | 深圳市大疆创新科技有限公司 | 无人飞行器的速度控制 |
ES2876449T3 (es) | 2014-09-05 | 2021-11-12 | Sz Dji Technology Co Ltd | Cartografía de entorno de múltiples sensores |
EP3399381A1 (en) | 2014-09-05 | 2018-11-07 | SZ DJI Technology Co., Ltd. | Context-based flight mode selection |
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Citations (10)
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JPH04276585A (ja) * | 1991-03-04 | 1992-10-01 | Toyota Motor Corp | 車載用測距装置 |
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JP2002314992A (ja) * | 2001-04-18 | 2002-10-25 | Olympus Optical Co Ltd | 移動要素検出方法及び移動要素検出装置 |
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2003
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- 2004-02-12 ES ES04710402T patent/ES2304603T3/es not_active Expired - Lifetime
- 2004-02-12 AT AT04710402T patent/ATE392631T1/de not_active IP Right Cessation
- 2004-02-12 EP EP04710402A patent/EP1592985B1/de not_active Expired - Lifetime
- 2004-02-12 CN CNA2004800041059A patent/CN1751249A/zh active Pending
- 2004-02-12 US US10/545,360 patent/US8416397B2/en not_active Expired - Fee Related
- 2004-02-12 DE DE502004006839T patent/DE502004006839D1/de not_active Expired - Lifetime
- 2004-02-12 JP JP2006502024A patent/JP2006517659A/ja active Pending
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012080517A (ja) * | 2010-10-01 | 2012-04-19 | Young Wee Jay | イメージ獲得ユニット、方法及び連関付けられた制御ユニット{imageacquisitionunit、acquisitionmethodandassociatedcontrolunit} |
KR101392392B1 (ko) * | 2012-06-04 | 2014-05-07 | 주식회사 와이즈오토모티브 | 레이저를 이용한 주차 보조 시스템의 주차 정보 출력 장치 |
WO2014162344A1 (ja) * | 2013-04-01 | 2014-10-09 | 株式会社ブリリアントサービス | キャリブレーションパターン、キャリブレーション方法およびキャリブレーションプログラム |
US9905024B2 (en) | 2015-08-28 | 2018-02-27 | Hyundai Motor Company | Object recognition device, vehicle having the same and method of controlling the same |
Also Published As
Publication number | Publication date |
---|---|
DE502004006839D1 (de) | 2008-05-29 |
US8416397B2 (en) | 2013-04-09 |
EP1592985A1 (de) | 2005-11-09 |
US20060222207A1 (en) | 2006-10-05 |
DE10305861A1 (de) | 2004-08-26 |
WO2004072677A1 (de) | 2004-08-26 |
ATE392631T1 (de) | 2008-05-15 |
EP1592985B1 (de) | 2008-04-16 |
KR20050099623A (ko) | 2005-10-14 |
ES2304603T3 (es) | 2008-10-16 |
CN1751249A (zh) | 2006-03-22 |
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