KR101891460B1 - 차도 위의 반사체를 인식하고 평가하기 위한 방법 및 장치 - Google Patents

차도 위의 반사체를 인식하고 평가하기 위한 방법 및 장치 Download PDF

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KR101891460B1
KR101891460B1 KR1020177031347A KR20177031347A KR101891460B1 KR 101891460 B1 KR101891460 B1 KR 101891460B1 KR 1020177031347 A KR1020177031347 A KR 1020177031347A KR 20177031347 A KR20177031347 A KR 20177031347A KR 101891460 B1 KR101891460 B1 KR 101891460B1
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roadway
reflector
camera
point
images
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KR20170127036A (ko
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슈테판 프리츠
베른트 하르트만
마누엘 암토어
요아힘 덴츨러
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콘티넨탈 테베스 아게 운트 코. 오하게
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    • G06K9/00791—
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G06K9/4661—
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
    • G06V10/462—Salient features, e.g. scale invariant feature transforms [SIFT]
    • G06V10/464—Salient features, e.g. scale invariant feature transforms [SIFT] using a plurality of salient features, e.g. bag-of-words [BoW] representations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
    • 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
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • G06K2009/363—
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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 OR CALCULATING; 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Software Systems (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
KR1020177031347A 2015-05-06 2016-05-04 차도 위의 반사체를 인식하고 평가하기 위한 방법 및 장치 Active KR101891460B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015208429.9 2015-05-06
DE102015208429.9A DE102015208429A1 (de) 2015-05-06 2015-05-06 Verfahren und Vorrichtung zur Erkennung und Bewertung von Fahrbahnreflexionen
PCT/DE2016/200207 WO2016177371A1 (de) 2015-05-06 2016-05-04 Verfahren und vorrichtung zur erkennung und bewertung von fahrbahnreflexionen

Publications (2)

Publication Number Publication Date
KR20170127036A KR20170127036A (ko) 2017-11-20
KR101891460B1 true KR101891460B1 (ko) 2018-08-24

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KR1020177031347A Active KR101891460B1 (ko) 2015-05-06 2016-05-04 차도 위의 반사체를 인식하고 평가하기 위한 방법 및 장치

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Country Link
US (1) US10442438B2 (https=)
EP (1) EP3292510B1 (https=)
JP (1) JP6453490B2 (https=)
KR (1) KR101891460B1 (https=)
CN (1) CN107667378B (https=)
DE (2) DE102015208429A1 (https=)
WO (1) WO2016177371A1 (https=)

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US11023788B2 (en) * 2016-01-05 2021-06-01 Mobileye Vision Technologies Ltd. Systems and methods for estimating future paths
CN106686165B (zh) * 2016-12-30 2018-08-17 维沃移动通信有限公司 一种路况检测的方法及移动终端
WO2018122586A1 (zh) * 2016-12-30 2018-07-05 同济大学 一种基于舒适度的自动驾驶车速控制方法
DE102018203807A1 (de) 2018-03-13 2019-09-19 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zur Erkennung und Bewertung von Fahrbahnzuständen und witterungsbedingten Umwelteinflüssen
DE102018218733B4 (de) * 2018-10-31 2025-03-13 Robert Bosch Gmbh Verfahren zur Unterstützung einer kamerabasierten Umfelderkennung eines Fortbewegungsmittels mittels einer Strassennässeinformation eines ersten Ultraschallsensors
FI128495B (en) * 2019-05-21 2020-06-15 Vaisala Oyj Method for calibrating optical surface monitoring system, arrangement, device and computer readable memory
FR3103303B1 (fr) * 2019-11-14 2022-07-22 Continental Automotive Détermination d’un coefficient de friction pour un véhicule sur une route
EP3866055B1 (en) * 2020-02-12 2025-09-24 Aptiv Technologies AG System and method for displaying spatial information in the field of view of a driver of a vehicle
US20220198200A1 (en) * 2020-12-22 2022-06-23 Continental Automotive Systems, Inc. Road lane condition detection with lane assist for a vehicle using infrared detecting device
CN112597666B (zh) * 2021-01-08 2022-05-24 北京深睿博联科技有限责任公司 一种基于表面材质建模的路面状态分析方法及装置
DE102021101788A1 (de) 2021-01-27 2022-07-28 Zf Cv Systems Global Gmbh Verfahren zum ortsaufgelösten Ermitteln einer Oberflächeneigenschaft eines Untergrundes, Verarbeitungseinheit und Fahrzeug
JP6955295B1 (ja) * 2021-02-16 2021-10-27 株式会社アーバンエックステクノロジーズ 識別装置、識別プログラム、および識別方法
CN115201218A (zh) * 2022-07-13 2022-10-18 鲁朗软件(北京)有限公司 一种车载路面病害智能检测方法及系统

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US20020191837A1 (en) 2001-05-23 2002-12-19 Kabushiki Kaisha Toshiba System and method for detecting obstacle
JP2003057168A (ja) 2001-08-20 2003-02-26 Omron Corp 路面判別装置及び同装置の設置調整方法
WO2004081897A2 (en) 2003-03-14 2004-09-23 Liwas Aps A device for detection of road surface condition

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DE3023444C2 (de) * 1979-06-29 1985-07-11 Omron Tateisi Electronics Co., Kyoto Einrichtung zur Ermittlung des witterungsbedingten Straßenzustandes
JPS6015015B2 (ja) 1979-06-29 1985-04-17 株式会社 レオ技研 路面水分検知装置
DE3738221A1 (de) * 1987-11-11 1989-06-08 Bayerische Motoren Werke Ag Verfahren und einrichtung zum erkennen des zustandes einer strasse
DE4235104A1 (de) * 1992-10-17 1994-04-21 Sel Alcatel Ag Straßenzustandsdetektor
ATE340395T1 (de) * 2000-02-07 2006-10-15 Vsd Ltd Rauch- und flammendetektion
JP3626905B2 (ja) * 2000-11-24 2005-03-09 富士重工業株式会社 車外監視装置
CN102017601B (zh) 2008-06-26 2013-03-13 松下电器产业株式会社 图像处理装置及图像合成方法
DE112010005669B4 (de) * 2010-06-18 2017-10-26 Honda Motor Co., Ltd. System zur Straßenoberflächenreflektivitätsklassifizierung
JP5761601B2 (ja) * 2010-07-01 2015-08-12 株式会社リコー 物体識別装置
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US20020191837A1 (en) 2001-05-23 2002-12-19 Kabushiki Kaisha Toshiba System and method for detecting obstacle
JP2003057168A (ja) 2001-08-20 2003-02-26 Omron Corp 路面判別装置及び同装置の設置調整方法
WO2004081897A2 (en) 2003-03-14 2004-09-23 Liwas Aps A device for detection of road surface condition

Also Published As

Publication number Publication date
KR20170127036A (ko) 2017-11-20
EP3292510B1 (de) 2021-07-07
JP6453490B2 (ja) 2019-01-16
DE102015208429A1 (de) 2016-11-10
JP2018516799A (ja) 2018-06-28
WO2016177371A1 (de) 2016-11-10
US20180141561A1 (en) 2018-05-24
DE112016002050A5 (de) 2018-01-11
CN107667378B (zh) 2021-04-27
US10442438B2 (en) 2019-10-15
EP3292510A1 (de) 2018-03-14
CN107667378A (zh) 2018-02-06

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