Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
  • G01C21/34—Route searching; Route guidance
  • G01C21/36—Input/output arrangements for on-board computers
  • G01C21/3626—Details of the output of route guidance instructions
  • G01C21/3647—Guidance involving output of stored or live camera images or video streams
• • 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
  • B60R1/20—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
  • B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
  • B60R1/23—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
  • B60R1/24—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
  • G01C21/34—Route searching; Route guidance
  • G01C21/36—Input/output arrangements for on-board computers
  • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
  • G01C21/34—Route searching; Route guidance
  • G01C21/36—Input/output arrangements for on-board computers
  • G01C21/3626—Details of the output of route guidance instructions
  • G01C21/3635—Guidance using 3D or perspective road maps
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
  • G01C21/34—Route searching; Route guidance
  • G01C21/36—Input/output arrangements for on-board computers
  • G01C21/3626—Details of the output of route guidance instructions
  • G01C21/3635—Guidance using 3D or perspective road maps
  • G01C21/3638—Guidance using 3D or perspective road maps including 3D objects and buildings
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
  • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
  • B60R2300/207—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using multi-purpose displays, e.g. camera image and navigation or video on same display
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
  • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
  • B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data

Definitions

• the invention relates to a camera-supported navigation system, as can be used preferably in motor vehicles, and to a method for its operation.
• Navigation systems used in motor vehicles generally comprise display means in the form of monitors or displays on which three-dimensional representations of the vehicle environment can be imaged. These three-dimensional representations are generated by selecting, based on position information, corresponding data from a dataset containing topographical and other environment data. Based on the selected data is then a reconstruction of the visible vehicle environment, which is preferably displayed in three dimensions and in freely selectable perspective on the display means.
• the representation takes place in a highly generalized form. That is, road courses, three-dimensional structures such as buildings, as well as striking landmarks are displayed in a way that at least striking outlines remain intact, or visible surfaces are filled with textures based on their actual appearance.
• the object of the invention is to improve the degree of agreement between the real environment of a vehicle and a reconstruction of a scene from this environment displayed on the display means of a navigation system.
• This navigation system must have at least one display device for visualizing the vehicle environment, at least one data memory containing data enabling a three-dimensional reconstruction of the vehicle surroundings, at least one camera which can record digital images of the vehicle surroundings and at least one data processing unit which consists of the vehicle Data storage include a representable on the display means reconstruction of the vehicle environment and at least partially fit the camera-captured digital images in the reconstruction of the vehicle environment, which is based on the data contained in the data memory include include.
• the embodiment of the invention is a method for improving the correspondence between virtual vehicle-generated reconstructions of scenes from the surroundings of a vehicle and the visual impression of a driver of that vehicle when viewing the real scenes using a camera taken digital images of the vehicle environment and at least partially in a virtual reconstruction of the vehicle environment, which is based on data in a data memory of the navigation system, are fitted.
• This integration of the images recorded in real time can include a replacement of areas covered with standard textures by photorealistic images using and corresponding fitting of the digital images.
• the realism of the previously used textures is checked. If it is found too far away from reality, ie the unsuitability of the previously used texture, it will be replaced by a more suitable texture.
• several textures which are stored in a corresponding data memory of the navigation system or are otherwise available can be successively checked with respect to the digital image for their realism and optionally selected for the replacement of the previous texture. It is also possible to generate a texture by evaluating the digital image and if a suitable replacement texture is unavailable, and to integrate this into the representation to be displayed.
• the advantage of working with textures is that, by improving a texture or replacing a standard texture by a texture optimized by matching with a digital image, the amount of data to be stored increases only insignificantly in the event of permanent use of the mixed images generated according to the invention. Nevertheless, the use of the optimized textures represents a significant improvement and easy way of updating the data set of a navigation system.
• the integration of current camera images or camera image detail from the vehicle environment into the virtual three-dimensional representation makes the separate production or selection of a texture superfluous in these areas, but places a much higher storage requirements on the storage space.
• basic patterns of standard textures used can be retained and, with the aid of the evaluated camera images, automatically subdivided into several new and more detailed levels of textures.
• the invention provides other advantages. First, there is a better match and better recognition of the screen display with the perceived by the driver vehicle environment. The more realistic representation facilitates the orientation of a vehicle driver. The ease of use increases because it is a more diversified and visually appealing presentation, since not only a few location textures are used. Furthermore, the method can be implemented cost-effectively, if already existing in a vehicle existing hardware in the form of cameras can be used. This is the case, for example, when a vehicle has a reversing or parking assistance system or a night-time driving system based on the use of night-vision devices and appropriate camera technology.
• Fig.l is a schematic representation of a vehicle according to the invention equipped in a displayable environment area
• Fig. 3 is a schematic representation of a navigation system according to the invention. Embodiment of the invention
• a vehicle 1 equipped with a navigation system according to the invention is located in a surrounding area 2 which can be reconstructed on the basis of data stored in a data memory of the navigation system and displayed on a display means in the form of a monitor.
• the vehicle 1 moves in the direction of the arrow.
• a part of this area is viewed by a camera belonging to the navigation system, which is aligned in the direction of travel, resulting in the resolution and the angle of view of the camera results in another area 3, which is recorded as a digital image with system evaluable resolution and as a digital image data set can be stored.
• the thus obtained digital image data and information can be at least partially incorporated by an appropriate fit in the original reconstruction of the vehicle environment and so directly by overlaying the previous presentation or indirectly by changing or optimizing graphical parameters part of the displayed on the monitor view of the vehicle environment.
• Monitor of the navigation system is based on a processing of originally provided environmental data including real-time recorded digital images. This results in the possibility of updating it by processing the originally provided data at the same time. Therefore, it is advantageous for further uses of the updated data if the edited data is in stored in a data store. It is particularly advantageous if the data for the reconstruction of the vehicle environment are retrieved from a central data memory and the processed data is stored in a central data memory, which can preferably be connected to a plurality of terminals of navigation systems, wherein the storage of the processed data in a manner The data stored in the central data memory form the basis of a reconstruction of the vehicle environment after another call. In this way, a database can be built up, which is updated automatically with each use.
• the terminals of navigation systems are the vehicle-side components of navigation systems according to the invention.
• FIG. 2 shows in which region 3 ', when a route 4 of a vehicle is traveling, digital image capture is possible if the method according to the invention is used permanently.
• the updated data is made available to a central memory, for example on a server, integration of several inventively equipped vehicles into the data update gradually leads to a surface-filling superimposition of the permanently updated image data.
• the updated data forms the basis of future environment reconstructions for display on the display means of the navigation systems, which are in turn updated when the route 4 is again started. In this way, a cost-effective system of data updates, since separate trips for updating can be omitted.
• these data can also be made available to users who themselves do not have a camera-supported navigation system according to the invention, but who are willing to receive the gene- data and want to incorporate them into their navigation system in a conventional way in order to benefit from their high degree of up-to-dateness.
• FIG. 3 shows a schematic representation of a navigation system according to the invention.
• This comprises an electronic display means in the form of a monitor 5, as it can also be used in conventional navigation systems.
• a data memory 6 is included, which contains data that enable a three-dimensional reconstruction of the environment of the vehicle equipped with the navigation system.
• the data memory 6 advantageously comprises a removable medium in order to subsequently be able to include or exchange user-specific data records.
• at least one digital camera 7, which can record digital images of the vehicle surroundings, also belongs to the navigation system. For the function of the navigation system according to the invention, it is irrelevant whether the digital camera 7 is exclusively included in the navigation system or is simultaneously or alternately part of further camera-supported systems of the vehicle.
• a data processing unit 8 which has at least the capacity to generate from the data contained in the data memory 6 a displayable on the monitor 5 reconstruction of the vehicle environment and at least partial fitting of the digital camera 7 recorded digital images in the on to be able to undertake the reconstruction of the vehicle environment based on the data memory 6.
• This data processing unit 8 furthermore has connecting means 9 to a central data memory 10 on a server, from which data for a reconstruction of the vehicle surroundings can be called up by the data processing unit 8 and in which data processed by the data processing unit 8 can be stored. NEN.
• the connection means 9 comprise a wireless connection in a radio network, via which the contact to the server is made if necessary.
• the server with the central data memory 10 has means for simultaneously being queried or addressed as data storage by higher-end terminals, that is to say navigation systems with equipment according to the invention.
• the real environment of the vehicle with the included digital camera 7 is permanently optically detected in the present example, wherein digital images are generated in close temporal sequence. This is followed by the decomposition of the images on the basis of known building positions, dimensions and locations as well as other prominent structures, for example
• a comparison of the reconstructed surfaces which can be displayed in a textured manner with the corresponding areas of the digital images takes place for this purpose. If too large a difference is found to a stored texture, the replacement of this texture is caused by another texture stored in a memory or a new texture is created.
• both the data memory 6 contained in the vehicle and the central data memory 10 of the server can be used.
• the newly created or exchanged texture in any case has a higher similarity to the corresponding area in the real environment.
• new textures are checked in the course of a texture management on the similarity to previously stored textures. If necessary, a summary of similar textures can be arranged, which may be useful, in particular after plausibility checks, in order to keep the data in a clear overview.
• the textures can be recognized and distinguished in terms of color and / or structure. There may be restrictions on the colors and textures for the number of texture gradations, and even if the number of textures in the system according to the invention is lower, an improvement in the quality of the display can be achieved if preferably textures are introduced, which rarely have to be replaced in a data update according to the invention, which speaks for an already close-to-nature reconstruction of the vehicle environment.

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• Engineering & Computer Science (AREA)
• Remote Sensing (AREA)
• Radar, Positioning & Navigation (AREA)
• Automation & Control Theory (AREA)
• General Physics & Mathematics (AREA)
• Physics & Mathematics (AREA)
• Multimedia (AREA)
• Theoretical Computer Science (AREA)
• Software Systems (AREA)
• General Engineering & Computer Science (AREA)
• Computer Hardware Design (AREA)
• Computer Vision & Pattern Recognition (AREA)
• Computer Graphics (AREA)
• Mechanical Engineering (AREA)
• Navigation (AREA)
• Traffic Control Systems (AREA)
• Instructional Devices (AREA)

Priority Applications (3)

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Publications (1)

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Citations (3)

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• 2007
  • 2007-06-29 DE DE102007030226A patent/DE102007030226A1/de not_active Withdrawn
• 2008
  • 2008-05-09 WO PCT/EP2008/055769 patent/WO2009003749A1/de not_active Ceased
  • 2008-05-09 JP JP2010513810A patent/JP5591108B2/ja not_active Expired - Fee Related
  • 2008-05-09 US US12/666,889 patent/US8649974B2/en not_active Expired - Fee Related
  • 2008-05-09 EP EP08759498A patent/EP2162316B1/de not_active Not-in-force

Patent Citations (3)

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