WO2014015867A1 - Verfahren zur ausrichtung zweier bildaufnahmeelemente eines stereokamerasystems - Google Patents
Verfahren zur ausrichtung zweier bildaufnahmeelemente eines stereokamerasystems Download PDFInfo
- Publication number
- WO2014015867A1 WO2014015867A1 PCT/DE2013/200049 DE2013200049W WO2014015867A1 WO 2014015867 A1 WO2014015867 A1 WO 2014015867A1 DE 2013200049 W DE2013200049 W DE 2013200049W WO 2014015867 A1 WO2014015867 A1 WO 2014015867A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- image pickup
- carrier plates
- camera modules
- pickup elements
- camera system
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/003—Alignment of optical elements
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/08—Stereoscopic photography by simultaneous recording
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/246—Calibration of cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N2213/00—Details of stereoscopic systems
- H04N2213/001—Constructional or mechanical details
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49002—Electrical device making
- Y10T29/49117—Conductor or circuit manufacturing
- Y10T29/49124—On flat or curved insulated base, e.g., printed circuit, etc.
- Y10T29/4913—Assembling to base an electrical component, e.g., capacitor, etc.
- Y10T29/49133—Assembling to base an electrical component, e.g., capacitor, etc. with component orienting
Definitions
- the invention relates to a method for aligning at least two image pickup elements of two camera modules of a stereo camera system, in particular with respect to their roll angle to each other, and a stereo camera system whose camera modules or its image pickup elements are aligned with each other by such a method.
- Driver assistance systems in motor vehicles often use a camera system for detecting objects in the surroundings of the vehicle, for example in a surrounding area ahead in the direction of travel.
- Such camera systems are usually arranged in the vehicle interior behind the windshield and look in the direction of travel through the disc.
- driver assistance systems such as accident prevention systems, e.g. (Emergency) brake assist, or systems with a longitudinal or transverse guidance support, e.g.
- accident prevention systems e.g. (Emergency) brake assist
- systems with a longitudinal or transverse guidance support e.g.
- Cruise control systems or lane assistants require the most accurate information possible about the vehicle environment.
- For the determination of the object distance beam sensors are currently used, for example ultrasound, radar or lidar systems. But cameras are also used to determine object distances.
- stereo camera systems When determining object distances by means of cameras, so-called stereo camera systems are currently used. These consist of two generally identical camera modules or monocameras, which are constructed as separate optical systems, ie each with an image pickup element and an imaging system (eg lens).
- the two camera modules are usually aligned with their optical axes parallel to each other and arranged laterally offset side by side behind the windshield, ie offset on a line parallel to the vehicle transverse axis side by side.
- the lateral distance between the camera modules is called baseline.
- the pixel coordinates of the projection of a pixel of an object differ in the captured images of the two camera modules. The difference between the coordinate pairs, ie the offset of the pixel in the images, depends on the distance of the object to the camera.
- the distance to the object can be calculated in a known manner from the offset of the pixel by means of trigonometry.
- This principle for determining or calculating object distances by means of a stereo camera system is also referred to as a stereo principle.
- DE 10 2010 023 591 A1 shows a stereo camera system which is intended for mounting on the windshield of a vehicle and for use in a driver assistance system.
- the system is designed as a mechanically coupled unit of two camera modules.
- Each camera module of the system includes an imaging element, such as a CMOS or CCD image chip, and optics, particularly an objective.
- the system also includes electronics having a memory with software for evaluating the digital image data generated by the image capture elements of the camera modules.
- Stereo camera system for the same picture content in particular searched for the same pixels, in the two images of the individual camera modules and evaluated their relative displacement according to the stereo principle.
- the two camera modules or the two image pickup elements of the camera modules must be aligned as closely as possible against each other, in particular with respect to their roll angle to each other, ie with respect to the rotation of the image pickup elements about their optical axes against each other.
- the pixel columns of the two image pickup elements of a stereo camera system are aligned parallel to one another, ie the image pickup elements of the camera modules have no roll angle or roll angle difference from one another.
- an active adjustment of the camera modules or of the image recording elements is still carried out each time in the production of stereo camera systems.
- images are continuously read out of the modules during alignment of the camera modules. Based on the read images, the camera modules can be aligned with each other.
- the camera modules generally each comprise a carrier plate, for example a Printed circuit board on which an image pickup element is arranged.
- the optics such as a lens. This is maintained, for example, by means of an obtus holder and can likewise be arranged directly on the carrier plate.
- the camera modules are manufactured separately and then arranged in the stereo camera system, in particular in a common housing of the stereo camera system. The following tolerances, concerning the roll angle of the image pickup elements of a stereo camera system, must therefore be taken into account each time in particular:
- Stereo camera systems must be considered for both camera modules, i. these tolerances are double, which extends the tolerance chain for the entire stereo camera system as a whole.
- the invention has for its object to provide a solution for a stereo camera system, which allows the simplest possible and cost-effective production of a stereo camera system, in particular the simplest Rollwinkelauscardi the camera modules and the image pickup elements of the
- Stereo camera system It should be preferred to an active Adjustment of the camera modules or the image recording elements of the stereo camera system, in particular to an active
- Roll angle ustage can be dispensed with.
- An essential idea of the invention is to take suitable measures by which a reduction of the tolerances in the stereo camera system and in particular a reduction of the tolerances in the alignment of the camera modules to each other is achieved. According to the invention this is achieved by essentially two measures.
- a first proposed measure is to use unhoused image pickup elements for the stereo camera system or for the camera modules, i. in particular so-called bare die picture chips. These themselves have no own chip housing. This eliminates the roll angle tolerances within the image pickup elements, i. the tolerances between the photosensitive semiconductor chip (die) and the chip package (the die).
- the reference outer edges may in particular be at least one straight outer edge of the carrier plates. It is essential, on the one hand, that the image recording elements are aligned with respect to their roll angle as precisely as possible to these reference outer edges, in particular with their pixel rows and / or pixel columns parallel to the reference outer edges. This can be done, for example, especially when unhoused image pickup elements are used by means of one or more stop edges, which are arranged on the carrier plates and aligned parallel to the reference outer edges. It is essential, on the other hand, that the camera modules themselves be aligned with one another by means of the reference outer edges.
- the alignment of the camera modules is preferably carried out by positioning the reference outer edges of the carrier plates of the camera modules against a common reference edge, for example against the same surface or reference surface, a support device which is disposed within the stereo camera system and serves to accommodate the camera modules.
- a significant advantage of the invention is that the tolerance chain of the entire stereo camera system, in particular the tolerance chain regarding the roll angle tolerance between the image pickup elements of the stereo camera system, can be significantly reduced or shortened by the measures described above.
- Image pickup elements of a stereo camera system are preferably reduced to only two remaining tolerances:
- Tolerance in the carrying device for receiving the camera modules in the stereo camera system.
- the inventive method is used to align at least two image pickup elements of two camera modules, in particular with respect to their roll angle to each other or up to today.
- the camera modules are preferably two camera modules of a stereo camera system in which the camera modules are offset laterally with the same viewing direction and are arranged with their optical axes parallel to one another.
- the method according to the invention essentially comprises the following steps:
- Stereo camera system wherein the reference outer edges of the carrier plates are positioned against a common reference edge or against a plurality of aligned reference edges.
- the roll angle of the image pickup elements is, in particular, the rotation of the image pickup elements about their optical axis.
- the roll angle of the two image recording elements should preferably be aligned relative to one another such that the
- Imaging elements of the camera modules have no roll angle or no roll angle difference to each other, i. ideally, the pixel columns or the pixel rows of the image recording elements are aligned parallel to one another.
- the support plates of the camera modules on which the image pickup elements are arranged and aligned for example, be made of metal, ceramic or epoxy material.
- the carrier plates can also be printed circuit boards with integrated circuits or printed conductors or also purely passive components, for example base plates without electrically conductive function or without electrical components (circuits, Tracks, etc.), ie serve only for receiving the image pickup elements and optionally other components.
- the image pickup elements are in the alignment of the image pickup elements in each case at least one reference outer edge of the carrier plates, the image pickup elements in each case against one or more stop edges, with which the carrier plates are formed positioned.
- the stop edges are, in particular, one or more stop edges formed on the carrier plates, which are formed or aligned parallel to the reference outer edges of the carrier plates.
- Stop edges are positioned. In this way, a simple and precise alignment of the pixel rows and / or pixel columns of the image recording elements to reference edges can be achieved, in particular a parallel alignment, whereby the roll angle tolerance between the respective image recording elements and the respective carrier plate can be significantly reduced.
- other positioning methods may be used to align the image pickup elements on the carrier plates with respect to the reference outer edges. For example, it is also possible to carry out an optical measurement, in particular with a corresponding micropositioning.
- the positioning of the image pickup elements against the one or more abutment edges of the carrier plates by means of one or more resilient elements, with which the carrier plates formed are and which apply the image pickup elements in their arrangement on the support plate with a spring force against the stop edges is achieved by means of one or more resilient elements, with which the carrier plates formed are and which apply the image pickup elements in their arrangement on the support plate with a spring force against the stop edges.
- Image pickup elements in each case at least one
- the auxiliary device is preferably a device which is arranged on the carrier plates for the arrangement and alignment of the image recording elements and is removed again after the arrangement and alignment of the image recording elements.
- the auxiliary device may for example be designed as a mounting frame, which is formed both with one or more defined attacks, by means of which the frame is clearly positioned against the reference outer edges of the carrier plates, and having one or more stop edges, for the defined positioning of the image pickup element against these stop edges and thus opposite the at least one reference outer edge of the respective carrier plate.
- the image pickup elements of the camera modules are unhoused image pickup elements, in particular so-called bare-dies or a bare-die image chips.
- Carrier plates is that the image pickup elements can be aligned very accurately with respect to their roll angle against the reference outer edges, since the unhoused image pickup elements themselves have only very small roll angle tolerances. As a result, the pixel rows or pixel columns of the image recording elements can be aligned very precisely, in particular parallel, to the reference outer edges of the carrier plates.
- the image pickup elements are unhoused image pickup elements, they can, when arranged on the carrier plates, be arranged on a front side of the carrier plates and, in particular by means of wire bonding and preferably through recesses in the carrier plates, be contacted with printed circuit boards.
- the printed circuit boards are preferably arranged on a rear side of the carrier plates in the case.
- the image pickup elements in particular when the image pickup elements are unhoused image pickup elements and the carrier plates of the camera modules are circuit boards, the image pickup elements can be arranged on the carrier plate and contacted with the carrier plate by wire bonding.
- the reference outer edges of the carrier plates are positioned against a common reference edge of a carrier device.
- the support device is preferably a device within the stereo camera system, which serves to accommodate the two individual camera modules.
- the support device may be formed, for example, as a simple beam, as recording or serves as a lateral transverse axis along which two camera modules offset from each other are arranged.
- the reference edge of the support device is preferably a straight reference edge or reference surface of the support device.
- the carrying device may be formed with a reference edge, for example the upper edge or the upper surface of a cross member, against which the
- Reference outer edges of the support plates of the camera modules are positioned.
- the reference edge is preferably a common reference edge for both camera modules, that is to say both camera modules are preferably arranged or positioned against the same reference edge, in particular extending over the entire lateral distance (baseline) in which the camera modules are arranged relative to one another common edge of the support device.
- the camera modules can also be positioned against several reference edges of a carrier device. If the two camera modules are positioned against several separate reference edges of a stereo camera system support, it is important that they are aligned with each other, i. in particular lie in a common plane and / or are aligned parallel to each other, so that the camera modules can be aligned with each other as accurately as possible with respect to their roll angle.
- the reference outer edges of the carrier plates are positioned against one or more reference edges of an auxiliary device.
- the auxiliary device is preferably a device which is arranged for positioning the camera modules in the stereo camera system and is removed again after the positioning of the camera modules.
- the auxiliary device may thus be a teaching or an auxiliary tool act, in particular, has a common reference edge or a plurality of separate mutually aligned reference edges against which the camera modules or the reference outer edges of the support plates of the camera modules can be positioned in their arrangement in the stereo camera system.
- the same requirements are to be placed on the reference edges of the auxiliary device as on the reference edges of a carrier device for receiving the camera modules.
- the stereo camera system comprises at least two camera modules which are each formed with a carrier plate and an image-receiving element.
- the camera modules or their image recording elements are preferably aligned with each other by means of a method according to one of the embodiments described above, in particular with respect to their roll angle to each other.
- the image pickup elements of the camera modules are preferably unhoused image pickup elements, i. so-called bare-die or bare-die chips.
- the carrier plates of the camera modules are furthermore preferably designed with at least one reference outer edge which abuts against at least one common reference edge of a carrier device within the
- Stereo camera system are positioned.
- the carrier plates of the camera modules are each formed with one or more cutouts, in particular in the form of recesses, for example on an outer edge or on two opposite outer edges of the carrier plates. Furthermore, at least one inner edge within the cutouts is preferably within at least one reference edge of a carrier device within the cutout
- Stereocamera system positioned so that the at least one Inner edge within the cutouts as a reference outer edge in the context of the inventive method for arrangement and alignment of the camera modules in the stereo camera system and thus to align the image pickup elements, in particular with respect to their roll angle to each other, is used.
- the carrier plates can be formed, for example, each with one or more holes, which serve as reference features of the carrier plates.
- the holes may serve as an alternative or in addition to the reference outer edges of the carrier plates for aligning the image pickup elements of the stereo camera system according to the invention and in the context of the method according to the invention.
- Figure 1 a simplified representation of a preferred embodiment
- FIG. 2a to 2d an advantageous embodiment of camera modules, which can be arranged in the context of the inventive method in a stereo camera system or which may be arranged in the stereo camera system according to the invention.
- the stereo camera system 1 shows a simplified illustration of a preferred embodiment of the stereo camera system 1 according to the invention.
- the stereo camera system 1 comprises two camera modules 2, which are laterally offset along an auxiliary device 3, which serves for alignment 1 of the camera modules 2 and are arranged side by side with the same viewing direction 4.
- the auxiliary device 3 is arranged in particular for positioning the camera modules 2 in the stereo camera system 1 and removed after the positioning of the camera modules (2).
- the optical axes of the camera modules 2 are preferably aligned parallel to each other. Regardless of how the auxiliary device 3 is subsequently formed, the auxiliary device 3 comprises at least one reference edge 5.
- the stereo camera system 1 may be a system to be arranged in a vehicle.
- Such a stereo camera system 1 is usually arranged in the interior of the vehicle behind the windshield and with viewing direction 4 through the windshield.
- the camera modules 2 are usually arranged on a common line / axis parallel to the vehicle transverse axis and laterally offset side by side and aligned with their optical axes parallel to each other in the direction of the environment located in front of the vehicle.
- the camera modules 2 of the stereo camera system 1 of FIG. 1 are preferably formed in accordance with FIGS. 2 a to 2 d.
- FIG. 2a shows a camera module 2 which can be arranged in the stereo camera system 1 according to the invention or in the frame of the method according to the invention can be arranged in a stereo camera system 1.
- FIG. 2b shows the camera module 2 from FIG. 2a in an exploded view.
- FIGS. 2 c and 2 d show the camera module 2 according to FIGS. 2 a and 2 b, but in each case without depiction of the objective 11.
- the camera module 2 respectively comprises an image pickup element 6 which is arranged on a carrier plate 7.
- the image pickup element 6 is preferably arranged on a front side of the carrier plate 7 and electrically contacted by wire bonds 8, in particular through recesses 9 in the carrier plate 7, with a printed circuit board 10 which is arranged on a rear side of the carrier plate 7.
- the image recording element 6 is preferably an unhoused image recording element, preferably a so-called bare die image chip, which is applied to the carrier plate 7.
- the support plate 7 may be made of metal.
- the printed circuit board 10 may be a flexible printed circuit board carrying components required to operate the image pickup element 6, and more particularly having a contact zone for connection to a zero force plug.
- an FR4 printed circuit board could be used as a support plate 7.
- a printed circuit board 10 already has a flexible region with contact zones. Accordingly, the two-part solution, ie a separation of carrier and circuit board, would be omitted.
- the image pickup element 6 could be applied directly to the circuit board.
- the bond connection 9 would then take place on the same surface to which the image pickup element 6 is applied.
- the two-part design with separate support plate 7 and circuit board 10 has the significant advantage, especially if the support plate 7 is formed as a metal plate, that a very good thermal connection of the image pickup element 6 is present.
- a lens 11 of the camera module 2 are arranged directly on the support plate 7, for example by means of an adhesive connection 12.
- the carrier plate 7 comprises at least one
- Reference outer edge 13 could in particular also be an inner edge 14 within a cutout or within a cutout 15 in the carrier plate 7. Basically, besides the use of reference outer edges 13, it is alternatively or additionally other special features, such as e.g. Holes in the support plates 7, to use to align the support plates 7 and thus the camera modules 2 to each other
- the stereo camera system 1 of FIG. 1 can be arranged, for example, in a vehicle behind the windshield, looking through the window.
- a stereo camera system 1 in a vehicle and in particular in a stereo camera system 1 according to FIG. 1 for example for determining distance information or depth information, it is necessary for the camera modules 2 or the image recording elements 6 of the stereo camera system 1 to be spaced, their viewing direction 4 and as regards their roll angle are aligned as closely as possible to each other.
- the inventive method is used, in particular for aligning the roll angle of the image pickup elements 6 to each other.
- the orientation of the camera modules 2 and the image pickup elements 6, in particular with respect to the roll angle by means of the steps: - Arrangement of the image pickup elements 6 on the support plates 7 of the camera modules 2, wherein the image pickup elements 6 respectively to the reference outer edges 13 of the support plates. 7 be aligned, in particular with respect to their roll angle;
- An essential idea of the invention is to take appropriate measures by which a reduction in the tolerances within the camera modules 2 of the stereo camera system 1 and a reduction in the tolerances in the alignment of the camera modules 2 to each other is achieved, and thus a reduction in the entire tolerance chain of the stereo camera system 1, in particular, the roll angle alignment of the image pickup elements 6.
- a first proposed measure is to use unhoused image pickup elements 6 for the stereo camera system 1 or for the camera modules 2. This eliminates the roll angle tolerance within the image pickup elements 6.
- Another proposed measure is to provide a defined reference outer edge 13 on the carrier plates 7 of the camera modules 2.
- the image pickup elements 6 are aligned with respect to their roll angle as closely as possible to the reference outer edges 13, in particular with their pixel rows and / or pixel columns parallel to the reference outer edges 13.
- the camera modules. 2 itself aligned by means of the reference outer edges 13 to each other.
- the alignment of the camera modules 2 is preferably carried out by positioning the Reference outer edges 13 of the support plates 7 of the camera modules 2 against a common or a plurality of mutually aligned reference edges 5, which are preferably in a plane, ie which are arranged for example on a common reference surface 16 of the support device 3 of the stereo camera system 1.
- the tolerance chain can preferably be reduced to only two remaining tolerances:
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Studio Devices (AREA)
- Stereoscopic And Panoramic Photography (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/379,593 US10547827B2 (en) | 2012-07-27 | 2013-07-15 | Method for aligning two image recording elements of a stereo camera system |
EP13755940.7A EP2877897B1 (de) | 2012-07-27 | 2013-07-15 | Verfahren zur ausrichtung zweier bildaufnahmeelemente eines stereokamerasystems |
JP2015523422A JP6608278B2 (ja) | 2012-07-27 | 2013-07-15 | ステレオ・カメラの二つの画像撮影エレメントを揃えるための方法 |
DE112013000212.4T DE112013000212A5 (de) | 2012-07-27 | 2013-07-15 | Verfahren zur Ausrichtung zweier Bildaufnahmeelemente eines Stereokamerasystems |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012106834.8 | 2012-07-27 | ||
DE102012106834.8A DE102012106834A1 (de) | 2012-07-27 | 2012-07-27 | Verfahren zur Ausrichtung zweier Bildaufnahmeelemente eines Stereokamerasystems |
Publications (1)
Publication Number | Publication Date |
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WO2014015867A1 true WO2014015867A1 (de) | 2014-01-30 |
Family
ID=49084709
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/DE2013/200049 WO2014015867A1 (de) | 2012-07-27 | 2013-07-15 | Verfahren zur ausrichtung zweier bildaufnahmeelemente eines stereokamerasystems |
Country Status (5)
Country | Link |
---|---|
US (1) | US10547827B2 (de) |
EP (1) | EP2877897B1 (de) |
JP (1) | JP6608278B2 (de) |
DE (2) | DE102012106834A1 (de) |
WO (1) | WO2014015867A1 (de) |
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WO2017179516A1 (ja) * | 2016-04-15 | 2017-10-19 | 日立オートモティブシステムズ株式会社 | 多眼光学装置 |
DE102016217450A1 (de) | 2016-09-13 | 2018-03-15 | Conti Temic Microelectronic Gmbh | Stereokameraanordnung für ein Kraftfahrzeug sowie Kraftfahrzeug mit einer solchen Stereokameraanordnung |
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JP2016126243A (ja) * | 2015-01-07 | 2016-07-11 | 株式会社リコー | カメラ装置 |
EP3068125A1 (de) * | 2015-03-09 | 2016-09-14 | Delphi Technologies, Inc. | Verfahren zur herstellung eines mehrfachansichtskamerasystems und mehrfachansichtskamerasystem |
JP6722287B2 (ja) * | 2015-12-09 | 2020-07-15 | タイタン メディカル インコーポレイテッドTitan Medical Inc. | 立体撮像センサ装置及び立体撮像に用いる画像センサ対を製作するための方法 |
JP6621716B2 (ja) * | 2016-08-02 | 2019-12-18 | 日立オートモティブシステムズ株式会社 | ステレオカメラ |
JP6535646B2 (ja) * | 2016-10-21 | 2019-06-26 | 日立オートモティブシステムズ株式会社 | 撮像カメラおよび多眼撮像装置 |
US10728435B2 (en) | 2017-06-23 | 2020-07-28 | Shoppertrak Rct Corporation | Image capture device with flexible circuit board |
DE102017221474A1 (de) * | 2017-11-29 | 2019-05-29 | Robert Bosch Gmbh | Überwachungsmodul, Überwachungsmodulanordnung, Überwachungsanlage und Verfahren |
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- 2013-07-15 US US14/379,593 patent/US10547827B2/en active Active
- 2013-07-15 WO PCT/DE2013/200049 patent/WO2014015867A1/de active Application Filing
- 2013-07-15 DE DE112013000212.4T patent/DE112013000212A5/de not_active Withdrawn
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WO2017179516A1 (ja) * | 2016-04-15 | 2017-10-19 | 日立オートモティブシステムズ株式会社 | 多眼光学装置 |
JP2017191265A (ja) * | 2016-04-15 | 2017-10-19 | 日立オートモティブシステムズ株式会社 | 多眼光学装置 |
DE102016217450A1 (de) | 2016-09-13 | 2018-03-15 | Conti Temic Microelectronic Gmbh | Stereokameraanordnung für ein Kraftfahrzeug sowie Kraftfahrzeug mit einer solchen Stereokameraanordnung |
Also Published As
Publication number | Publication date |
---|---|
US20150029313A1 (en) | 2015-01-29 |
EP2877897B1 (de) | 2019-01-02 |
DE102012106834A1 (de) | 2014-01-30 |
JP2015528133A (ja) | 2015-09-24 |
JP6608278B2 (ja) | 2019-11-20 |
EP2877897A1 (de) | 2015-06-03 |
US10547827B2 (en) | 2020-01-28 |
DE112013000212A5 (de) | 2014-09-18 |
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