WO2014044265A1 - Procédé d'étalonnage d'une caméra à résolution de couleur pour véhicule - Google Patents

Procédé d'étalonnage d'une caméra à résolution de couleur pour véhicule Download PDF

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Publication number
WO2014044265A1
WO2014044265A1 PCT/DE2013/200117 DE2013200117W WO2014044265A1 WO 2014044265 A1 WO2014044265 A1 WO 2014044265A1 DE 2013200117 W DE2013200117 W DE 2013200117W WO 2014044265 A1 WO2014044265 A1 WO 2014044265A1
Authority
WO
WIPO (PCT)
Prior art keywords
color
signal
vehicle camera
traffic
image
Prior art date
Application number
PCT/DE2013/200117
Other languages
German (de)
English (en)
Inventor
Stefan Hegemann
Matthias Komar
Stefan LÜKE
Original Assignee
Conti Temic Microelectronic Gmbh
Continental Teves Ag & Co. Ohg
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 Conti Temic Microelectronic Gmbh, Continental Teves Ag & Co. Ohg filed Critical Conti Temic Microelectronic Gmbh
Priority to DE112013001958.2T priority Critical patent/DE112013001958A5/de
Publication of WO2014044265A1 publication Critical patent/WO2014044265A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights

Definitions

  • the invention relates to a method for calibrating a color-resolving vehicle camera, which is used in particular for a driver assistance system.
  • Such vehicle cameras are calibrated at the end of a production line during vehicle production by means of special test objects, wherein both an orientation of a region to be detected and an optimal color detection and a white balance are set.
  • a problem with the color detection by a camera is that the color of an object is not a pure property of the object itself, but is significantly influenced by the transmission and filtering properties of the entire optical chain (windshield, lenses, imagers) and the color temperature of the light sources the object is illuminated.
  • a white road marking also appears yellow when it is illuminated by a yellowish-glowing headlight.
  • a reliable recognition of colors in the world and thus in traffic can be of crucial importance for the function of driver assistance systems such as e.g. one
  • Be traffic sign recognition, automatic light control or a construction site assistant A remedy for this is to perform a so-called white balance, ie to estimate the color temperature of the illumination and to take this influence into account when determining the color of an object.
  • Vehicles usually travel through several different zones with different routes
  • WO 2010/088876 A1 shows a method for calibrating a camera-based system of a vehicle (F) with a pane (S), in particular a camera-based driver assistance system.
  • a type of the disc (S), in particular its tint is detected by means of the camera-based system.
  • a normalization of the color space to white, ie a white balance of the camera-based system can be compared to a camera-based system by comparing white headlights of other vehicles detected by the camera stored standard value of a reference headlight.
  • headlights have a significant dispersion of their spectral composition, from "xenon white” to light yellow, and that headlights can typically be detected only at night.
  • the invention has for its object to provide an improved method for calibrating a color-resolving vehicle camera.
  • An inventive method for calibrating a color-resolving vehicle camera comprises the following steps:
  • At least one image is taken by means of the color-resolving vehicle camera.
  • At least one recorded image is searched for at least one signal of a traffic light and if a potential traffic signal is found in the image, this is classified and verified, so recognized.
  • This step can be carried out in particular by electronic image processing.
  • Under a traffic light signal is the All understood at a time luminous traffic signal colors, so for example only green, but also yellow-red. If no traffic light signal is found in a picture, the procedure continues with a picture taken subsequently.
  • a color calibration, in particular a white balance, of the vehicle camera is performed by comparing the color value of the at least one detected traffic light signal from the recorded image with a reference color value for the color of this traffic signal. If, for example, a green traffic light signal was detected in an image, the color value of this traffic light signal can be compared with a stored reference green (which is typical for green traffic light signals). If, for example, yellow-red was detected as a traffic light signal, the detected red color value can be compared with a reference red or the detected yellow can be compared with a reference yellow or both detected with the respective reference color values.
  • the color calibration of the vehicle camera is preferably carried out by an automatic adaptation of camera or image processing parameters in such a way that the color value of the detected traffic light signal determined after the adaptation agrees with the stored reference color value.
  • traffic lights are an ideal means of color-calibrating vehicle cameras.
  • the color design of the traffic light signals must, for example, in Germany in accordance with the General Administrative Instructions on Road Traffic Regulations (VwV-StVO) from 22 October 1998, in the version of 17 July 2009, to ⁇ 37 in accordance with DIN 6163.
  • the color recognition stability can be increased over the lifetime of a vehicle camera (recalibration of the camera color characteristics). Also in the course of a day can be carried out at different positions of the sun, weather or light conditions (day / night), a recalibration of the color detection. The stability of the color detection can be especially in difficult scenarios such. Construction sites (distinction between yellow and white lane boundary lines) can be increased. The invention therefore offers a very efficient way of optimally calibrating a color-resolving vehicle camera, since this calibration is carried out automatically and can be carried out regularly.
  • a plurality of images are recorded and a plurality of signals of at least one traffic signal color value of one or more traffic lights are detected.
  • Color calibration is performed by comparing at least one average traffic signal color value from the images with a reference color value for the color of that traffic signal.
  • Average value may preferably be for each
  • Traffic light signal color value green, yellow and red
  • green values each as a green traffic light signal were detected, for example, an average green is determined, which is then compared with the stored reference green.
  • the color spectrum of a plurality of detected traffic signal colors can be combined and this averaged value can be used for calibration of the colors or for white balance. This has the advantage that color deviations of individual traffic signals can be compensated.
  • a color calibration is performed with a detected (average) red traffic signal color and a reference color value for red. It is particularly possible to perform a color calibration only by this red comparison. Red is detected by many image sensors, in particular those with a Bayer color filter (RGGB chip), as base color.
  • RGGB chip Bayer color filter
  • a color calibration is performed with a detected (average) green traffic signal color and a green reference color value. It is particularly possible to perform a color calibration only by this green comparison. Green is also detected by many image sensors, in particular those with a Bayer color filter (RGGB chip), as the base color. Preferably, a color calibration is performed with a detected (average) yellow traffic signal color and a reference color value for yellow. In particular, it is possible to carry out a color calibration only by means of this yellow comparison.
  • Yellow plays an important role and so on. in the detection of yellow lane boundary lines (construction sites) or in the detection of traffic signs with yellow contents (for example, priority road sign).
  • the color calibration of the vehicle camera by comparing all simultaneously or successively recorded and detected traffic signal colors from the or the recorded (s) image (s) with the respectively corresponding reference color value for red, yellow and green.
  • the values of traffic signal colors and / or the average value of the traffic signal colors are determined as a function of image position.
  • the invention also relates to a device for calibrating a color-resolving vehicle camera.
  • a means for receiving at least one image by means of the color-resolving vehicle camera a Means for detecting at least one signal of a traffic light in the captured image and a means for color calibration of the vehicle camera by comparing at least one color value of the at least one detected traffic light signal from the recorded image with a reference color value for the color of this traffic signal, wherein the reference color value preferably in a non-volatile memory is deposited.
  • the vehicle camera may preferably have a recording control unit, an image processing unit and a data memory, in which all said means are integrated.
  • Fig. 1 is a schematic representation of a color-resolving camera in a vehicle and Fig. 2 four signals of a traffic light circuit.
  • FIG. 1 shows a schematic representation of a color-resolving camera K in an interior of a vehicle F behind a window S.
  • the camera K is arranged behind a windshield of the vehicle F and directed outwards onto an area in front of the vehicle F.
  • the invention also includes vehicle cameras, which are not arranged in the interior or behind a vehicle window S, so for example, vehicle cameras in the exterior mirror or in the rear bumper.
  • the Vehicle camera K further includes an electronic image processing with a data memory not shown here.
  • FIG. 2 shows four signals or states of a traffic light.
  • the lower, green signal color (G, diagonally ascending hatched) illuminates and the entrance is released.
  • the middle, yellow signal color (Y, diagonally descending hatched) illuminates and the driver should wait for the next signal.
  • the upper, red signal color (R, diagonal lattice-shaped) illuminates and the driver has no permission to enter.
  • Signal 4 illuminates the red and yellow signal colors (R, Y) together, which tells the driver that the entrance is about to be released.
  • a vehicle with a camera (as shown in FIG. 1) frequently passes traffic lights during a journey indicating one of the signals shown in FIG.
  • These traffic light signals are recorded by the camera and can therefore be recognized from the camera images.
  • the image recording frequency is significantly shorter than the traffic signal change frequency.
  • signals are also typically detected and detected by different traffic lights in the course of a journey, since, for example, In cities many intersections of traffic lights are regulated.
  • an average traffic light green value can be determined.
  • an average traffic light red and yellow ⁇ value can also be determined in the same way.
  • the average traffic light green value is compared with a reference green value stored in memory. If a deviation exists between both green values, a need for a color calibration can be determined.
  • the average traffic light red and yellow values may be compared to a reference red value and a reference yellow value. From the size of the deviation of the individual color values, a color space correction can be determined.
  • the color calibration of the vehicle camera is by an automatic adjustment of camera or
  • Image processing parameters carried out such that the color value of the detected traffic light signals determined after the adaptation matches as closely as possible with the stored reference color values.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Signal Processing (AREA)
  • Color Television Image Signal Generators (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé et un dispositif d'étalonnage d'une caméra à résolution de couleur pour véhicule, comprenant les étapes suivantes. Au moins une image est prise à l'aide de la caméra à résolution de couleur du véhicule. Dans ladite au moins une image prise, au moins un signal d'un feu de signalisation est recherché et, si un signal potentiel de feu de signalisation est trouvé dans l'image, ce signal est classé et vérifié, donc reconnu. Si aucun signal de feu de signalisation n'est trouvé dans une image, le procédé se poursuit avec une image prise subséquemment. Un étalonnage des couleurs, notamment un rééquilibrage des blancs, de la caméra pour véhicule est effectué par comparaison de la valeur chromatique du au moins un signal de feu de signalisation reconnu et issu de l'image prise, avec une valeur chromatique de référence de la couleur de ce signal de feu de signalisation.
PCT/DE2013/200117 2012-09-20 2013-08-09 Procédé d'étalonnage d'une caméra à résolution de couleur pour véhicule WO2014044265A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112013001958.2T DE112013001958A5 (de) 2012-09-20 2013-08-09 Verfahren zur Kalibrierung einer farbauflösenden Fahrzeugkamera

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012108861.6 2012-09-20
DE102012108861.6A DE102012108861A1 (de) 2012-09-20 2012-09-20 Verfahren zur Kalibrierung einer farbauflösenden Fahrzeugkamera

Publications (1)

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WO2014044265A1 true WO2014044265A1 (fr) 2014-03-27

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DE (2) DE102012108861A1 (fr)
WO (1) WO2014044265A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105023452A (zh) * 2014-04-24 2015-11-04 深圳市赛格导航科技股份有限公司 一种多路交通信号灯信号采集的方法及装置
CN105719365A (zh) * 2016-02-14 2016-06-29 海安欣凯富机械科技有限公司 汽车的行车记录的影像的红、绿、蓝三基色混合程度的调整方法
CN105760873A (zh) * 2016-02-14 2016-07-13 海安欣凯富机械科技有限公司 汽车的行车记录仪
CN105761327A (zh) * 2016-02-14 2016-07-13 海安欣凯富机械科技有限公司 汽车的行车记录仪
CN110249338A (zh) * 2017-02-10 2019-09-17 法国大陆汽车公司 用于检测与交通信号灯相关的假阳性误报的方法
US20200034988A1 (en) * 2018-07-30 2020-01-30 Pony Ai Inc. System and method for calibrating on-board vehicle cameras
EP3876527A1 (fr) * 2020-03-06 2021-09-08 Nintendo Co., Ltd. Système de traitement d'informations, appareil de traitement d'informations, programme de traitement d'informations et procédé de traitement d'informations

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DE102015016409A1 (de) * 2015-12-18 2017-06-22 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Verfahren und Vorrichtung zum Prüfen der Tag-/Nachterkennung
DE102016013538A1 (de) 2016-11-14 2017-05-18 Daimler Ag Verfahren zur Farbklassifizierung eines Objekts im Umfeld eines Kraftwagens
DE102021132644A1 (de) 2021-12-10 2023-06-15 Valeo Schalter Und Sensoren Gmbh Verfahren zur Farbkalibrierung einer farbauflösenden Kamera für ein Kraftfahrzeug, Steuereinrichtung und Kamera

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EP1591316A2 (fr) * 2004-04-28 2005-11-02 Robert Bosch Gmbh Système de prise de vue
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JP2012008845A (ja) * 2010-06-25 2012-01-12 Konica Minolta Opto Inc 画像処理装置

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KR20060125939A (ko) * 2005-06-01 2006-12-07 엘지전자 주식회사 이동통신 단말기를 이용한 신호등 색상 알림 방법
DE102009047437A1 (de) * 2009-12-03 2011-06-09 Robert Bosch Gmbh Verfahren und Vorrichtung zur Anpassung von Bildinformationen eines optischen Systems
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EP1591316A2 (fr) * 2004-04-28 2005-11-02 Robert Bosch Gmbh Système de prise de vue
EP2200329A1 (fr) * 2008-12-12 2010-06-23 Tektronix, Inc. Procédé et appareil pour la compensation automatique de l'éclairage dans la surveillance vidéo
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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105023452A (zh) * 2014-04-24 2015-11-04 深圳市赛格导航科技股份有限公司 一种多路交通信号灯信号采集的方法及装置
CN105719365A (zh) * 2016-02-14 2016-06-29 海安欣凯富机械科技有限公司 汽车的行车记录的影像的红、绿、蓝三基色混合程度的调整方法
CN105760873A (zh) * 2016-02-14 2016-07-13 海安欣凯富机械科技有限公司 汽车的行车记录仪
CN105761327A (zh) * 2016-02-14 2016-07-13 海安欣凯富机械科技有限公司 汽车的行车记录仪
CN110249338A (zh) * 2017-02-10 2019-09-17 法国大陆汽车公司 用于检测与交通信号灯相关的假阳性误报的方法
CN110249338B (zh) * 2017-02-10 2023-10-31 法国大陆汽车公司 用于检测与交通信号灯相关的假阳性误报的方法
US20200034988A1 (en) * 2018-07-30 2020-01-30 Pony Ai Inc. System and method for calibrating on-board vehicle cameras
WO2020028219A1 (fr) * 2018-07-30 2020-02-06 Pony Ai Inc. Système et procédé d'étalonnage de caméras embarquées
US10719957B2 (en) 2018-07-30 2020-07-21 Pony Ai Inc. System and method for calibrating on-board vehicle cameras
CN113170079A (zh) * 2018-07-30 2021-07-23 小马智行 用于校准车载摄像头的系统和方法
EP3876527A1 (fr) * 2020-03-06 2021-09-08 Nintendo Co., Ltd. Système de traitement d'informations, appareil de traitement d'informations, programme de traitement d'informations et procédé de traitement d'informations
US11457190B2 (en) 2020-03-06 2022-09-27 Nintendo Co., Ltd. Information processing system, information processing apparatus, and information processing method

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Publication number Publication date
DE102012108861A1 (de) 2014-05-28
DE112013001958A5 (de) 2014-12-18

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