JP4327726B2 - 車両の側方周囲の、ビデオベースの監視及び測定のための方法及び装置 - Google Patents

車両の側方周囲の、ビデオベースの監視及び測定のための方法及び装置 Download PDF

Info

Publication number
JP4327726B2
JP4327726B2 JP2004538958A JP2004538958A JP4327726B2 JP 4327726 B2 JP4327726 B2 JP 4327726B2 JP 2004538958 A JP2004538958 A JP 2004538958A JP 2004538958 A JP2004538958 A JP 2004538958A JP 4327726 B2 JP4327726 B2 JP 4327726B2
Authority
JP
Japan
Prior art keywords
images
vehicle
camera
image
movement
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.)
Expired - Fee Related
Application number
JP2004538958A
Other languages
English (en)
Japanese (ja)
Other versions
JP2006501542A (ja
JP2006501542A5 (enExample
Inventor
トーマス・ブロインル
ウヴェ・フランケ
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.)
Mercedes Benz Group AG
Original Assignee
Daimler AG
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 Daimler AG filed Critical Daimler AG
Publication of JP2006501542A publication Critical patent/JP2006501542A/ja
Publication of JP2006501542A5 publication Critical patent/JP2006501542A5/ja
Application granted granted Critical
Publication of JP4327726B2 publication Critical patent/JP4327726B2/ja
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
  • Closed-Circuit Television Systems (AREA)
JP2004538958A 2002-09-23 2003-09-19 車両の側方周囲の、ビデオベースの監視及び測定のための方法及び装置 Expired - Fee Related JP4327726B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10244148A DE10244148A1 (de) 2002-09-23 2002-09-23 Verfahren und Vorrichtung zur videobasierten Beobachtung und Vermessung der seitlichen Umgebung eines Fahrzeugs
PCT/EP2003/010456 WO2004029877A2 (de) 2002-09-23 2003-09-19 Verfahren und vorrichtung zur videobasierten beobachtung und vermessung der seitlichen umgebung eines fahrzeugs

Publications (3)

Publication Number Publication Date
JP2006501542A JP2006501542A (ja) 2006-01-12
JP2006501542A5 JP2006501542A5 (enExample) 2009-06-04
JP4327726B2 true JP4327726B2 (ja) 2009-09-09

Family

ID=31983990

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2004538958A Expired - Fee Related JP4327726B2 (ja) 2002-09-23 2003-09-19 車両の側方周囲の、ビデオベースの監視及び測定のための方法及び装置

Country Status (5)

Country Link
US (1) US7365831B2 (enExample)
EP (1) EP1543475A2 (enExample)
JP (1) JP4327726B2 (enExample)
DE (1) DE10244148A1 (enExample)
WO (1) WO2004029877A2 (enExample)

Families Citing this family (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10260555A1 (de) * 2002-12-21 2004-07-01 Eads Radio Communication Systems Gmbh & Co.Kg System zur Hinderniswarnung für spurgeführte Fahrzeuge
JP4848644B2 (ja) * 2005-02-25 2011-12-28 トヨタ自動車株式会社 障害物認識システム
CN101132965B (zh) * 2005-03-03 2010-09-29 大陆-特韦斯贸易合伙股份公司及两合公司 用于在车辆变换车道时避免碰撞的方法和装置
DE102005015463B4 (de) * 2005-04-04 2007-02-15 Magna Donnelly Gmbh & Co. Kg Fahrzeug mit Distanzkontrollsystem
DE102005022882A1 (de) * 2005-05-18 2006-11-23 Volkswagen Ag Verfahren und Vorrichtung zur Parkraumvermessung mittels einer Monokamera
JP4600760B2 (ja) * 2005-06-27 2010-12-15 アイシン精機株式会社 障害物検出装置
DE102006011590B4 (de) * 2006-03-10 2019-02-28 Adc Automotive Distance Control Systems Gmbh Vorrichtung zum Vermessen einer Parklücke
DE102006062061B4 (de) 2006-12-29 2010-06-10 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung, Verfahren und Computerprogramm zum Bestimmen einer Position basierend auf einem Kamerabild von einer Kamera
FR2921324B1 (fr) * 2007-09-25 2010-02-05 Renault Sas Procede et dispositif d'assistance au parcage d'un vehicule automobile
DE102008060684B4 (de) * 2008-03-28 2019-05-23 Volkswagen Ag Verfahren und Vorrichtung zum automatischen Einparken eines Kraftfahrzeugs
ATE533350T1 (de) * 2009-09-07 2011-12-15 Claas Agrosystems Gmbh & Co Kg Steuerungssystem eines landwirtschaftlichen fahrzeugs mit einem güterträger, landwirtschaftliches fahrzeug und verfahren zur steuerung eines güterträgers des landwirtschaftlichen fahrzeugs
US8451139B2 (en) * 2010-02-22 2013-05-28 Cnh America Llc System and method for coordinating harvester and transport vehicle unloading operations
DE102010011093A1 (de) * 2010-03-11 2011-09-15 Daimler Ag Verfahren zur Bestimmung einer Fahrzeugaufbaubewegung
DE102010011629A1 (de) 2010-03-16 2011-01-05 Daimler Ag Verfahren zur Umgebungsrepräsentation eines Fahrzeugs
DE102010019146A1 (de) 2010-05-03 2011-11-03 Daimler Ag Verfahren zur Erfassung einer Umgebung eines Fahrzeugs
DE102010026224A1 (de) * 2010-07-06 2012-01-12 Daimler Ag Verfahren und Vorrichtung zur Erfassung eines seitlichen Umfeldes eines Fahrzeuges
US8471908B2 (en) * 2010-10-18 2013-06-25 GM Global Technology Operations LLC Three-dimensional mirror display system for a vehicle and method
IT1403429B1 (it) * 2010-12-24 2013-10-17 Magneti Marelli Spa Sistema e procedimento di rivelazione di uno spazio di parcheggio per un veicolo
DE102011113016A1 (de) 2011-09-09 2012-03-29 Daimler Ag Verfahren zur Umgebungsrepräsentation eines Fahrzeugs
DE102011083745B4 (de) * 2011-09-29 2019-01-10 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum monokularen Motion-Stereo-basierten automatischen Vermessen von freien Parkplätzen, Computerprogrammprodukt und Vorrichtung
DE102011116169A1 (de) * 2011-10-14 2013-04-18 Continental Teves Ag & Co. Ohg Vorrichtung zur Unterstützung eines Fahrers beim Fahren eines Fahrzeugs oder zum autonomen Fahren eines Fahrzeugs
US9762880B2 (en) * 2011-12-09 2017-09-12 Magna Electronics Inc. Vehicle vision system with customized display
US9280826B2 (en) * 2013-12-10 2016-03-08 GM Global Technologies Operations LLC Distance determination using a monoscopic imager in a vehicle
US9384662B2 (en) * 2014-04-17 2016-07-05 Ford Global Technologies, Llc Parking assistance for a vehicle
DE102015205244B3 (de) 2015-03-24 2015-12-10 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Bereitstellen von Hinderniskarten für Fahrzeuge
CN108449945B (zh) * 2015-09-30 2020-12-08 索尼公司 信息处理设备、信息处理方法和程序
CN105451000B (zh) * 2015-12-27 2019-02-15 高田汽车电子(上海)有限公司 一种基于单目后视摄像头的车载全景环视系统及方法
DE102016104730A1 (de) 2016-03-15 2017-09-21 Connaught Electronics Ltd. Verfahren zum Detektieren eines Objekts entlang einer Straße eines Kraftfahrzeugs, Rechenvorrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
CN106203272B (zh) * 2016-06-29 2018-07-20 上海小蚁科技有限公司 确定可移动对象的移动的方法和装置
CN109959919B (zh) * 2017-12-22 2021-03-26 比亚迪股份有限公司 汽车及单目摄像头测距方法、装置
CN109764858B (zh) * 2018-12-24 2021-08-06 中公高科养护科技股份有限公司 一种基于单目相机的摄影测量方法及系统
DE102020003662A1 (de) 2020-06-19 2020-08-06 Daimler Ag Verfahren zur Bestimmung einer Eigenbewegung mittels Lidar-Odometrie und Fahrzeug

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05265547A (ja) * 1992-03-23 1993-10-15 Fuji Heavy Ind Ltd 車輌用車外監視装置
DE4209936C2 (de) * 1992-03-27 1994-11-03 Bodenseewerk Geraetetech Gelände-Bildsimulator
DE19636028C1 (de) * 1996-09-05 1997-11-20 Daimler Benz Ag Verfahren zur Stereobild-Objektdetektion
JP2000161915A (ja) * 1998-11-26 2000-06-16 Matsushita Electric Ind Co Ltd 車両用単カメラ立体視システム
JP3349121B2 (ja) * 1999-09-22 2002-11-20 富士重工業株式会社 ステレオカメラの取付構造
DE60009000T2 (de) * 1999-10-21 2005-03-10 Matsushita Electric Industrial Co., Ltd., Kadoma System zur Einparkhilfe
DE10045616B4 (de) * 2000-09-15 2011-03-17 Volkswagen Ag Verfahren zum automatischen Einparken eines Kraftfahrzeugs
DE20105340U1 (de) * 2001-03-26 2001-07-26 Daimler Chrysler Ag Dimensionale Umfelderfassung
JP4861574B2 (ja) * 2001-03-28 2012-01-25 パナソニック株式会社 運転支援装置

Also Published As

Publication number Publication date
WO2004029877A3 (de) 2004-06-10
JP2006501542A (ja) 2006-01-12
US7365831B2 (en) 2008-04-29
DE10244148A1 (de) 2004-04-08
WO2004029877A2 (de) 2004-04-08
EP1543475A2 (de) 2005-06-22
US20070165908A1 (en) 2007-07-19

Similar Documents

Publication Publication Date Title
JP4327726B2 (ja) 車両の側方周囲の、ビデオベースの監視及び測定のための方法及び装置
US20220163349A1 (en) Methods and Systems for Calibrating Sensors Using Road Map Data
US11801726B2 (en) Vehicle control based on localization and road data
JP7090597B2 (ja) 位置特定基準データを生成及び使用する方法及びシステム
CN109017570B (zh) 车辆周围场景呈现方法和装置、车辆
US11257369B2 (en) Off road route selection and presentation in a drive assistance system equipped vehicle
US10705220B2 (en) System and method for ground and free-space detection
US10466714B2 (en) Depth map estimation with stereo images
US9207680B1 (en) Estimating multi-vehicle motion characteristics by finding stable reference points
EP2429877B1 (en) Camera system for use in vehicle parking
US9285230B1 (en) Methods and systems for detecting road curbs
KR101839554B1 (ko) 교통 신호 및 그의 연관된 상태를 검출하는 강건한 방법
EP2372304B1 (en) Vehicle position recognition system
JP7059888B2 (ja) 支援制御システム
GB2379111A (en) On-board monitoring of a vehicle environment
CN101497329A (zh) 图像处理装置、图像处理方法、以及程序
JP2006501542A5 (enExample)
KR20170008505A (ko) 자유 공간 지도 생성 방법, 자유 공간 지도 생성 시스템, 자유 공간 지도를 이용한 전경/배경 추출 방법 및 전경/배경 추출 시스템
JP6552448B2 (ja) 車両位置検出装置、車両位置検出方法及び車両位置検出用コンピュータプログラム
GB2494526A (en) Vehicle Speed Determination
JP2007505377A (ja) 路上における自動車の位置決定方法及び装置
CN115892025A (zh) 用于检测、定位和共享坑洼的系统
JP4796676B2 (ja) 車両上方視点画像表示装置
KR101980509B1 (ko) 차간 거리 추정 방법 및 차간 거리 추정 장치
JP6604052B2 (ja) 走路境界推定装置及び走路境界推定方法

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20060428

RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20070720

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20080130

RD03 Notification of appointment of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7423

Effective date: 20080307

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20080430

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20080617

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20081015

A911 Transfer to examiner for re-examination before appeal (zenchi)

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20081020

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20090120

A524 Written submission of copy of amendment under article 19 pct

Free format text: JAPANESE INTERMEDIATE CODE: A524

Effective date: 20090417

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20090519

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20090611

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20120619

Year of fee payment: 3

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20120619

Year of fee payment: 3

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130619

Year of fee payment: 4

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees
RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: R3D04