WO2014114294A1 - Verfahren zur erkennung von gepulst betriebenen lichtquellen - Google Patents
Verfahren zur erkennung von gepulst betriebenen lichtquellen Download PDFInfo
- Publication number
- WO2014114294A1 WO2014114294A1 PCT/DE2014/200025 DE2014200025W WO2014114294A1 WO 2014114294 A1 WO2014114294 A1 WO 2014114294A1 DE 2014200025 W DE2014200025 W DE 2014200025W WO 2014114294 A1 WO2014114294 A1 WO 2014114294A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- camera
- recording
- time
- light sources
- pulsed light
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims 1
- 238000005286 illumination Methods 0.000 description 22
- 230000008569 process Effects 0.000 description 4
- 238000010009 beating Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 241000256844 Apis mellifera Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002800 charge carrier Substances 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/745—Detection of flicker frequency or suppression of flicker wherein the flicker is caused by illumination, e.g. due to fluorescent tube illumination or pulsed LED illumination
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
-
- 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
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10141—Special mode during image acquisition
- G06T2207/10144—Varying exposure
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06T2207/30232—Surveillance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
Definitions
- the invention relates to a method for detecting pulsed light sources by means of a camera, which can be used in particular in camera-based driver assistance systems.
- Automatic camera-based driver assistance systems capture the vehicle environment using at least one camera, interpret the recorded image data and determine a system-specific reaction.
- the interpretation of the vehicle environment also includes the detection of self-luminous or illuminated elements of the infrastructure or road traffic. Examples include traffic lights, traffic signs, headlights and taillights.
- LEDs light emitting diodes
- incandescent bulbs incandescent bulbs
- the LEDs are not operated continuously but are pulsed on and off. That is, they do not shine continuously, but emit a rapid succession of flashes of light, which are generally perceived by the human eye as continuous lighting because of its inertia.
- Camera-based driver assistance systems can cause problems with such pulsed or pulsed light sources. This may be manifested in the fact that the cameras in some pictures do not depict all the information that the human eye has perceived as illuminated. - - form, but only parts of it or even in extreme cases
- WO 2011/091785 A1 shows a highly dynamic image sensor for the detection of modulated light.
- the number of charge carriers that can be collected both reduced by a number of outputs and enlarged / v / ground by, for example, provided thereto capacitors or resistors or switched off.
- the invention has for its object to provide a method for the detection of pulsed operated information sources or light sources, which allows a complete and reliable detection of the information content of these sources reliably and inexpensively.
- the pulse is usually designed as a pulse width modulation and has two parameters, the pulse rate and the relative pulse width (English: duty cycle), where a duty cycle of 50% means that the LED is 50% of the time.
- the pulse rate is at a given usually fixed. With the duty cycle, the emitted light quantity is controlled in such illuminations and thus adjusted the brightness of the illumination.
- the image recording or scanning of the vehicle environment usually also takes place according to a fixed time grid, for. B. every 4Q ms, so pulsed. Since fixed focal length optics and aperture are typically used in such systems, exposure time is available to control the quality of the image, which allows the amount of light received to be regulated during recording.
- a red lit traffic light could be classified as non-luminous, which in turn could lead to a faulty system response.
- the pulsed illumination and the pulsed recording thus produce beating effects in the recorded signal.
- the beating period can be from 0 to, in the worst case, infinite.
- This invention provides a method by which beating periods resulting from the above lighting and picking methods are kept short.
- a basis of the method according to the invention is the idea that longer beat periods can be avoided if the recording frequency, in contrast to the illumination frequency, is constantly changing.
- a method according to the invention for detecting pulsed light sources or objects (eg retroreflectors) which are illuminated by means of a pulsed light source by means of a camera therefore sees that the camera takes a sequence of images, the interval between see two consecutive shots of individual images is constantly varied during the recording of the image sequence.
- pulsed light sources or objects eg retroreflectors
- the advantage of the method according to the invention is that no assumptions have to be made about the frequency or relative pulse width of pulsed light sources.
- the variation ensures that pulsed light sources are completely detected and detected from a small number of consecutively recorded camera images.
- future illumination pulse trains, unknown at the time of the registration, of pulsed light sources will not lead to long beats.
- the time interval between two successive shots of individual images is constantly varied during the recording of the image sequence. The duration until the next recording or exposure time of the camera is thus shifted with each shot.
- the continuous variation of the time interval is periodic, i. after a recurring pattern.
- the variation may be such that the sum of shift time, take-up / exposure time, and non-exposure / non-exposure time is constant for each image.
- the "superordinate recording frequency" of the camera is kept constant, which is favorable from a system point of view. phase shortens with constant exposure times to the same extent as the exposure start time is shifted due to the variation (compared to a non-shifted exposure start time).
- the possible shift steps of the recording time are randomly distributed with respect to a predetermined regular recording time during the recording of the image sequence.
- the possible shift steps may preferably be in a shift time interval that includes the range from a minimum to a maximum shift.
- the possible shift steps of the recording time are uniform compared to a predetermined regular recording time during the recording of the image sequence. evenly distributed in a given shift time interval.
- the FGlge of the individual shift steps of the recording time with respect to a predetermined regular recording time during the recording of the image sequence may be predetermined by a pseudorandom sequence.
- the step size can in particular scale with the maximum shift divided by the number of elements of the pseudorandom sequence.
- the camera is arranged in a vehicle and can detect the environment of the vehicle.
- the camera may preferably provide data for a driver assistance system that fulfills a function of several functions that assist the driver in his driving activity.
- Corresponding driver assistance functions are i.a. a traffic sign recognition, maximum speed warning, right of way warning, wrong driving warning, automatic light control, collision warning and a longitudinally adjustable cruise control (ACC, Adaptive Cruise
- the variation of the time interval between two successive shots of individual images during the acquisition of the image sequence is made only if it was previously determined from the image data of the camera or from map information that potentially relevant pulsed light sources are present in the detection range of the camera.
- the camera can be operated in normal operation with a constant time interval between two successive shots of individual images (ie a fixed Aufnähmetrequenz), as long as no potential pulsed light sources are detected and determined.
- frames or arrangement positions of relevant pulsed light sources can be taken into account, eg of an object detection based on the (same) camera images.
- the presence of potentially relevant pulsed light sources in the detection range of the camera can preferably be determined from navigation / map information. In digital maps are already at least partially positions of traffic lights, variable message signs, etc. noted.
- the exposure time is increased when it has previously been determined from the image data of the camera or from map information that potentially relevant pulsed light sources are present in the detection range of the camera.
- the exposure time can be increased if detection of the information content of the pulsed light source from an image with the original exposure time was unsuccessful.
- pulsed light sources may be, in particular, variable message signs, traffic lights or light signal systems, the information content of which can be detected and recognized more quickly or more reliably with a method according to the invention.
- vehicle lights may be relevant pulsed light sources.
- the detection of vehicle front and rear lights of other vehicles is particularly important to prevent dazzling other drivers by automatic light control.
- the invention will be explained in more detail with reference to a figure and exemplary embodiments.
- the sole FIGURE 1 shows a schematic representation of temporal pulse progressions of a pulsed operated light source and a camera.
- an LED is shown here by way of example, which is switched on and off at constant time intervals (upper curve).
- This pulsed operation is designed as pulse width modulation, and has two parameters, the pulse frequency and the duty cycle (relative duty cycle, English: duty cycle).
- the duty cycle indicates what percentage of a cycle the LED is on. In the example shown, the LED is switched on less than 50% of the time.
- the pulse rate is i.d.R. for a given system. firmly. With the relative pulse width, the emitted light quantity is controlled in such illuminations and thus the brightness of the illumination is adjusted.
- the lower curve shows the time course of the exposure phases of a camera.
- the exposure mode of the camera may be referred to as pulsed operation.
- the exposure time is used to control the quality of the image Which allows the amount of light absorbed during recording to be regulated.
- the start time of an exposure phase of the camera is now varied with respect to the exposure timing shown in FIG. 1 at regular intervals.
- the case is excluded that in the case of the same pulse rate of illumination and image capture under certain circumstances no signal of the illumination VGP_ the camera is detected.
- the varying shift time or delay time can be selected as a pseudorandom sequence. For example, if a sequence of length 16 is used, the jittered exposure timings are shifted sequentially from the unrelated exposure times as follows:
- the camera is basically operated in a "normal mode" with constant intervals between two consecutive exposure modes. operated start times.
- the variation of the distances is only made if it has previously been determined from the image data of the camera that potentially relevant pulsed light sources are present in the detection range of the camera.
- potential variable traffic signs can be detected from camera images by means of image evaluation, based on typical geometries, frames or arrangement positions of variable traffic signs.
- positions of variable message signs can be stored in a digital map, whereby the navigation system with position determination unit can determine whether the camera at the current location may possibly detect a change traffic sign.
- the procedure in this case consists of the following steps:
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Studio Devices (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/440,488 US9787910B2 (en) | 2013-01-28 | 2014-01-24 | Method for detecting light sources operated in pulsed mode |
DE112014000579.7T DE112014000579A5 (de) | 2013-01-28 | 2014-01-24 | Verfahren zur Erkennung von gepulst betriebenen Lichtquellen |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013100804.6A DE102013100804A1 (de) | 2013-01-28 | 2013-01-28 | Verfahren zur Erkennung von gepulst betriebenen Lichtquellen |
DE102013100804.6 | 2013-01-28 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014114294A1 true WO2014114294A1 (de) | 2014-07-31 |
Family
ID=50235853
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2014/200025 WO2014114294A1 (de) | 2013-01-28 | 2014-01-24 | Verfahren zur erkennung von gepulst betriebenen lichtquellen |
Country Status (3)
Country | Link |
---|---|
US (1) | US9787910B2 (de) |
DE (2) | DE102013100804A1 (de) |
WO (1) | WO2014114294A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016221869A1 (de) | 2016-11-08 | 2018-05-09 | Conti Temic Microelectronic Gmbh | Erkennung von Regentropfen auf einer Scheibe mittels einer Kamera und einer Beleuchtung |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012221159A1 (de) * | 2012-11-20 | 2014-05-22 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Erkennen von Wechselverkehrszeichen |
DE102013204935A1 (de) * | 2013-03-20 | 2014-09-25 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Erstellen einer Aufnahme eines gepulst aufleuchtenden Objekts |
DE102015115351A1 (de) * | 2015-09-11 | 2017-03-16 | Connaught Electronics Ltd. | Verfahren zum Betreiben einer Kamera abhängig von einer vorgegebenen Pulsfrequenz einer Beleuchtungsquelle, Kamera und System |
DE102016109887B4 (de) * | 2016-05-30 | 2020-05-28 | Dream Chip Technologies Gmbh | Verfahren zur Erkennung und Korrektur von Bildfehlern sowie Bildverarbeitungseinheit und Computerprogramm hierzu |
US10084967B1 (en) | 2017-03-24 | 2018-09-25 | Qualcomm Incorporated | Systems and methods for regionally controlling exposure time in high dynamic range imaging |
DE102017113801A1 (de) | 2017-06-22 | 2018-12-27 | Connaught Electronics Ltd. | Verfahren zum Betreiben einer Kamera durch Variieren des Startzeitpunktes einer Abtastperiode |
DE102017215347A1 (de) * | 2017-09-01 | 2019-03-07 | Conti Temic Microelectronic Gmbh | Verfahren zur vorhersehbaren Belichtungssteuerung zumindest einer ersten Fahrzeugkamera |
CN108509907B (zh) | 2018-03-30 | 2022-03-15 | 北京市商汤科技开发有限公司 | 车灯检测方法、实现智能驾驶的方法、装置、介质及设备 |
JP2022126350A (ja) * | 2021-02-18 | 2022-08-30 | 本田技研工業株式会社 | 認識装置、移動体、認識方法、およびプログラム |
KR20220121712A (ko) | 2021-02-25 | 2022-09-01 | 캐논 가부시끼가이샤 | 피사체의 주기적인 광량변화에 의한 플리커를 검출 가능한 촬상 장치, 플리커 검출 방법 및 비일시적 컴퓨터 판독 가능한 기억매체 |
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EP1276317A1 (de) * | 2000-11-27 | 2003-01-15 | Sony Corporation | Verfahren zur ansteuerung eines festkörperbildaufnahmegeräts und kamera |
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-
2013
- 2013-01-28 DE DE102013100804.6A patent/DE102013100804A1/de not_active Withdrawn
-
2014
- 2014-01-24 US US14/440,488 patent/US9787910B2/en active Active
- 2014-01-24 DE DE112014000579.7T patent/DE112014000579A5/de active Pending
- 2014-01-24 WO PCT/DE2014/200025 patent/WO2014114294A1/de active Application Filing
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EP1276317A1 (de) * | 2000-11-27 | 2003-01-15 | Sony Corporation | Verfahren zur ansteuerung eines festkörperbildaufnahmegeräts und kamera |
US20040012692A1 (en) * | 2002-03-25 | 2004-01-22 | Shinichi Arazaki | Flicker detection apparatus, a flicker correction apparatus, an image-pickup apparatus, a flicker detection program and a flicker correction program |
US20050161588A1 (en) * | 2004-01-26 | 2005-07-28 | Kominsky Richard A. | Method and system for spread spectrum gating |
US20050237394A1 (en) * | 2004-04-21 | 2005-10-27 | Behnam Katiblan | Flicker detection for image sensing devices |
US20090309972A1 (en) * | 2008-06-13 | 2009-12-17 | Fujitsu Ten Limited | Drive recorder and system |
WO2011091785A1 (de) | 2010-01-28 | 2011-08-04 | Conti Temic Microelectronic Gmbh | Hochdynamischer bildsensor zur detektion von moduliertem licht |
DE102010053197A1 (de) * | 2010-12-03 | 2011-08-25 | Daimler AG, 70327 | Verfahren und Vorrichtung zur Steuerung einer an oder in einem Fahrzeug angeordneten Bilderfassungseinheit |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102016221869A1 (de) | 2016-11-08 | 2018-05-09 | Conti Temic Microelectronic Gmbh | Erkennung von Regentropfen auf einer Scheibe mittels einer Kamera und einer Beleuchtung |
WO2018086662A1 (de) | 2016-11-08 | 2018-05-17 | Conti Temic Microelectronic Gmbh | Erkennung von regentropfen auf einer scheibe mittels einer kamera und einer beleuchtung |
Also Published As
Publication number | Publication date |
---|---|
US20150304539A1 (en) | 2015-10-22 |
DE112014000579A5 (de) | 2015-10-08 |
US9787910B2 (en) | 2017-10-10 |
DE102013100804A1 (de) | 2014-07-31 |
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