KR102491527B1 - 카메라 영상에서 대상의 감지 - Google Patents

카메라 영상에서 대상의 감지 Download PDF

Info

Publication number
KR102491527B1
KR102491527B1 KR1020197005955A KR20197005955A KR102491527B1 KR 102491527 B1 KR102491527 B1 KR 102491527B1 KR 1020197005955 A KR1020197005955 A KR 1020197005955A KR 20197005955 A KR20197005955 A KR 20197005955A KR 102491527 B1 KR102491527 B1 KR 102491527B1
Authority
KR
South Korea
Prior art keywords
projection
image
feature
projection plane
spatial
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
KR1020197005955A
Other languages
English (en)
Korean (ko)
Other versions
KR20190059894A (ko
Inventor
미하엘 발터
Original Assignee
콘티 테믹 마이크로일렉트로닉 게엠베하
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 콘티 테믹 마이크로일렉트로닉 게엠베하 filed Critical 콘티 테믹 마이크로일렉트로닉 게엠베하
Publication of KR20190059894A publication Critical patent/KR20190059894A/ko
Application granted granted Critical
Publication of KR102491527B1 publication Critical patent/KR102491527B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • G06T2207/30261—Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
KR1020197005955A 2016-09-29 2017-09-28 카메라 영상에서 대상의 감지 Active KR102491527B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016218852.6A DE102016218852A1 (de) 2016-09-29 2016-09-29 Detektion von Objekten aus Bildern einer Kamera
DE102016218852.6 2016-09-29
PCT/DE2017/200102 WO2018059631A1 (de) 2016-09-29 2017-09-28 Detektion und validierung von objekten aus sequentiellen bildern einer kamera mittels homographien

Publications (2)

Publication Number Publication Date
KR20190059894A KR20190059894A (ko) 2019-05-31
KR102491527B1 true KR102491527B1 (ko) 2023-01-20

Family

ID=60262655

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020197005955A Active KR102491527B1 (ko) 2016-09-29 2017-09-28 카메라 영상에서 대상의 감지

Country Status (7)

Country Link
US (1) US10984263B2 (enExample)
EP (1) EP3520024B1 (enExample)
JP (1) JP7050763B2 (enExample)
KR (1) KR102491527B1 (enExample)
CN (1) CN109791607B (enExample)
DE (2) DE102016218852A1 (enExample)
WO (1) WO2018059631A1 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016218849A1 (de) 2016-09-29 2018-03-29 Conti Temic Microelectronic Gmbh Detektion und Tracking von Objekten aus Bildern einer Kamera
DE102016218852A1 (de) * 2016-09-29 2018-03-29 Conti Temic Microelectronic Gmbh Detektion von Objekten aus Bildern einer Kamera
DE102016218853A1 (de) 2016-09-29 2018-03-29 Conti Temic Microelectronic Gmbh Detektion und Validierung von Objekten aus Bildern einer Kamera
US10706587B1 (en) * 2018-09-25 2020-07-07 Amazon Technologies, Inc. Calibration of multiple cameras
CN111260719B (zh) * 2020-01-09 2022-10-25 上海交通大学 一种基于神经网络算法的碰撞时间计算系统和方法
CN113284197B (zh) * 2021-07-22 2021-11-23 浙江华睿科技股份有限公司 Agv的tof相机外参标定方法及装置、电子设备
FR3155189A1 (fr) 2023-11-13 2025-05-16 Continental Autonomous Mobility Germany GmbH Suivi anticipé d’objets latéraux
FR3155191A1 (fr) 2023-11-13 2025-05-16 Continental Autonomous Mobility Germany GmbH Détection de segments
CN119705437B (zh) * 2025-01-20 2025-10-03 重庆长安汽车股份有限公司 一种车辆前向碰撞预警方法、装置、设备及存储介质

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100260377A1 (en) * 2007-03-22 2010-10-14 Nec Corporation Mobile detector, mobile detecting program, and mobile detecting method

Family Cites Families (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11353565A (ja) 1998-06-09 1999-12-24 Yazaki Corp 車両用衝突警報方法及び装置
JP3463858B2 (ja) 1998-08-27 2003-11-05 矢崎総業株式会社 周辺監視装置及び方法
US6618672B2 (en) 1998-10-21 2003-09-09 Yazaki Corporation Vehicle-applied rear-and-side monitoring system
DE19926559A1 (de) 1999-06-11 2000-12-21 Daimler Chrysler Ag Verfahren und Vorrichtung zur Detektion von Objekten im Umfeld eines Straßenfahrzeugs bis in große Entfernung
JP4118452B2 (ja) * 1999-06-16 2008-07-16 本田技研工業株式会社 物体認識装置
JP2002189075A (ja) * 2000-12-20 2002-07-05 Fujitsu Ten Ltd 道路上方静止物検知方法
JP3895238B2 (ja) * 2002-08-28 2007-03-22 株式会社東芝 障害物検出装置及びその方法
JP3987048B2 (ja) * 2003-03-20 2007-10-03 本田技研工業株式会社 車両周辺監視装置
DE10317044A1 (de) 2003-04-11 2004-10-21 Daimlerchrysler Ag Freiraumüberwachung bei Kraftfahrzeugen
DE10351778A1 (de) 2003-11-06 2005-06-09 Daimlerchrysler Ag Verfahren zur Korrespondenzanalyse in Bilddatensätzen
JP4328692B2 (ja) 2004-08-11 2009-09-09 国立大学法人東京工業大学 物体検出装置
DE102004046101B4 (de) 2004-09-23 2007-01-18 Daimlerchrysler Ag Verfahren, Sicherheitsvorrichtung und Verwendung der Sicherheitsvorrichtung zur Früherkennung von Kraftfahrzeugkollisionen
US7130745B2 (en) 2005-02-10 2006-10-31 Toyota Technical Center Usa, Inc. Vehicle collision warning system
JP4203512B2 (ja) * 2006-06-16 2009-01-07 本田技研工業株式会社 車両周辺監視装置
JP4166253B2 (ja) * 2006-07-10 2008-10-15 トヨタ自動車株式会社 物体検出装置、物体検出方法、および物体検出用プログラム
JP4267657B2 (ja) * 2006-10-31 2009-05-27 本田技研工業株式会社 車両周辺監視装置
WO2008065717A1 (fr) * 2006-11-29 2008-06-05 Fujitsu Limited Système et procédé de détection de piéton
US8098889B2 (en) 2007-01-18 2012-01-17 Siemens Corporation System and method for vehicle detection and tracking
EP3594853A3 (en) * 2007-05-03 2020-04-08 Sony Deutschland GmbH Method for detecting moving objects in a blind spot region of a vehicle and blind spot detection device
JP2009100342A (ja) 2007-10-18 2009-05-07 Sanyo Electric Co Ltd カメラ校正装置及び方法、並びに、車両
JP5410730B2 (ja) * 2008-10-09 2014-02-05 日立オートモティブシステムズ株式会社 自動車の外界認識装置
DE102009028742A1 (de) 2009-08-20 2011-02-24 Robert Bosch Gmbh Verfahren und Steuergerät zur Bestimmung einer Bewegungsinformation eines Objekts
US8232872B2 (en) 2009-12-03 2012-07-31 GM Global Technology Operations LLC Cross traffic collision alert system
US9959595B2 (en) 2010-09-21 2018-05-01 Mobileye Vision Technologies Ltd. Dense structure from motion
US9118816B2 (en) * 2011-12-06 2015-08-25 Mobileye Vision Technologies Ltd. Road vertical contour detection
US9251708B2 (en) * 2010-12-07 2016-02-02 Mobileye Vision Technologies Ltd. Forward collision warning trap and pedestrian advanced warning system
DE102011006564B4 (de) * 2011-03-31 2025-08-28 Robert Bosch Gmbh Verfahren zur Auswertung eines von einer Kamera eines Fahrzeugs aufgenommenen Bildes und Bildaufbereitungsvorrichtung
EP2546804A1 (en) 2011-07-10 2013-01-16 Dürr Dental AG Method and tomography apparatus for reconstruction of a 3D volume
JP5944781B2 (ja) * 2012-07-31 2016-07-05 株式会社デンソーアイティーラボラトリ 移動体認識システム、移動体認識プログラム、及び移動体認識方法
US9256791B2 (en) 2012-12-04 2016-02-09 Mobileye Vision Technologies Ltd. Road vertical contour detection
WO2015177648A1 (en) 2014-05-14 2015-11-26 Ofer Springer Systems and methods for curb detection and pedestrian hazard assessment
DE102015224796A1 (de) 2015-12-10 2017-06-14 Robert Bosch Gmbh Verfahren und Steuergerät zum Erkennen einer möglichen Kollision eines unbemannten Luftfahrzeugs mit einem Objekt
DE102016218853A1 (de) 2016-09-29 2018-03-29 Conti Temic Microelectronic Gmbh Detektion und Validierung von Objekten aus Bildern einer Kamera
DE102016218852A1 (de) * 2016-09-29 2018-03-29 Conti Temic Microelectronic Gmbh Detektion von Objekten aus Bildern einer Kamera
DE102016218849A1 (de) 2016-09-29 2018-03-29 Conti Temic Microelectronic Gmbh Detektion und Tracking von Objekten aus Bildern einer Kamera

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100260377A1 (en) * 2007-03-22 2010-10-14 Nec Corporation Mobile detector, mobile detecting program, and mobile detecting method

Also Published As

Publication number Publication date
JP2019530924A (ja) 2019-10-24
DE112017003466A5 (de) 2019-03-21
EP3520024B1 (de) 2024-09-11
WO2018059631A1 (de) 2018-04-05
EP3520024A1 (de) 2019-08-07
KR20190059894A (ko) 2019-05-31
JP7050763B2 (ja) 2022-04-08
CN109791607A (zh) 2019-05-21
DE102016218852A1 (de) 2018-03-29
CN109791607B (zh) 2024-06-04
US20190180121A1 (en) 2019-06-13
US10984263B2 (en) 2021-04-20

Similar Documents

Publication Publication Date Title
KR102491527B1 (ko) 카메라 영상에서 대상의 감지
Rezaei et al. Robust vehicle detection and distance estimation under challenging lighting conditions
Jazayeri et al. Vehicle detection and tracking in car video based on motion model
US9846812B2 (en) Image recognition system for a vehicle and corresponding method
Yamaguchi et al. Vehicle ego-motion estimation and moving object detection using a monocular camera
US7046822B1 (en) Method of detecting objects within a wide range of a road vehicle
JP6519262B2 (ja) 立体物検出装置、立体物検出方法、立体物検出プログラム、及び移動体機器制御システム
Barrois et al. 3D pose estimation of vehicles using stereo camera
CN109997148B (zh) 信息处理装置、成像装置、设备控制系统、移动对象、信息处理方法和计算机可读记录介质
US9042639B2 (en) Method for representing surroundings
US11087150B2 (en) Detection and validation of objects from sequential images of a camera by using homographies
US10984264B2 (en) Detection and validation of objects from sequential images of a camera
Zhou et al. Moving object detection and segmentation in urban environments from a moving platform
JP6583527B2 (ja) 画像処理装置、撮像装置、移動体機器制御システム、画像処理方法、及びプログラム
Nguyen et al. A fast evolutionary algorithm for real-time vehicle detection
CN107491065B (zh) 利用障碍物的地面边界信息检测物体的侧面的方法和装置
Liu et al. Vehicle detection and ranging using two different focal length cameras
JP2014164601A (ja) 車両諸元計測処理装置、車両諸元計測方法及びプログラム
Yiruo et al. Complex ground plane detection based on v-disparity map in off-road environment
Petrovai et al. A stereovision based approach for detecting and tracking lane and forward obstacles on mobile devices
CN117392423A (zh) 基于激光雷达的目标物的真值数据预测方法、装置及设备
Nguyen et al. Compensating background for noise due to camera vibration in uncalibrated-camera-based vehicle speed measurement system
Müller et al. Multi-camera system for traffic light detection: About camera setup and mapping of detections
JP3629935B2 (ja) 移動体の速度計測方法およびその方法を用いた速度計測装置
Giosan et al. Superpixel-based obstacle segmentation from dense stereo urban traffic scenarios using intensity, depth and optical flow information

Legal Events

Date Code Title Description
PA0105 International application

Patent event date: 20190227

Patent event code: PA01051R01D

Comment text: International Patent Application

PG1501 Laying open of application
A201 Request for examination
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20200923

Comment text: Request for Examination of Application

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20220427

Patent event code: PE09021S01D

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

Patent event code: PE07011S01D

Comment text: Decision to Grant Registration

Patent event date: 20221028

GRNT Written decision to grant
PR0701 Registration of establishment

Comment text: Registration of Establishment

Patent event date: 20230118

Patent event code: PR07011E01D

PR1002 Payment of registration fee

Payment date: 20230118

End annual number: 3

Start annual number: 1

PG1601 Publication of registration