Classifications

• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T5/00—Image enhancement or restoration
  • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
  • H04N7/00—Television systems
  • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
  • H04N7/00—Television systems
  • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
  • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
  • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
  • B60R2011/0003—Arrangements for holding or mounting articles, not otherwise provided for characterised by position inside the vehicle
  • B60R2011/0026—Windows, e.g. windscreen
• • 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
  • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
  • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
• • 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
• • 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
  • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
• • 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
  • B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene

Definitions

• the invention relates to a camera system for a vehicle and to a method for suppressing a mirror image.
• Camera systems for vehicles are known.
• camera systems are known in which a front camera for detecting a variety of objects in an external environment of the vehicle is used.
• the camera is usually arranged behind a windshield of the vehicle and looks in the direction of travel through it. Disturbing reflections may occur on the inside of the windshield, e.g. by objects on a dashboard in an interior of the vehicle.
• polarizing filters can be used.
• stray light panels or funnels can be used, which complete the space between the front camera and the windshield.
• Such stray light panels can be so large at extended camera opening angles that the stray light curtains disturb the driver of the vehicle in his sight.
• stray light curtains as far as sunlight falls on them, can generate an unwanted background signal which altogether raises the useful signal and blurs structures to be detected. Due to the non-linear characteristic of the highly dynamic imager, the contrast of the one to be recognized decreases
• a camera system for a vehicle is provided.
• the vehicle is, for example, a motor vehicle, such as car, bus or
• the camera system comprises a camera and an image evaluation unit.
• the camera is configured to be arranged in an interior of the vehicle behind a pane of the vehicle, so that the camera can record through the pane a sequence of images with a plurality of exterior shots of an external environment of the vehicle.
• the image evaluation unit is set up to recognize static image components that are projected by reflections into the exterior shots in the exterior shots of the image sequence and to extract the detected static image components from the exterior shots of the image sequence.
• the invention makes use of the fact that unwanted disturbing mirror images are largely static, whereas the desired utility image depicts a moving scene during the drive of the vehicle.
• the extraction of the static image components can be implemented by image processing methods and allows a subtractive removal of the interference image.
• the use of a scattered light aperture can be dispensed with under certain circumstances, but at least a straylight aperture can be dimensioned to be particularly small, since disturbing image components have already been eliminated particularly effectively by the extraction.
• the detection of the static image parts in the exterior shots of the image sequence can be done using various methods of image processing respectively. In the following, particularly suitable methods of image processing are described in this context.
• the image evaluation unit may be configured to include the static image components in the
• variable parts of the image are deleted, while the static parts of the image are retained.
• the image evaluation unit can be set up to determine the static image components in the outer shots of the image sequence by determining an optical flow within the image sequence
• the image evaluation unit is adapted to the static image components in the
• Assign structures e.g., reflections of a dashboard located within the interior of the vehicle or reflections on dashboard objects
• the prior art structures being stored in an image file that the camera can access.
• the image file may be stored on a storage unit within the camera.
• the image file can also be stored on an external storage unit, which can be accessed by the camera.
• Camera system comprises a first camera, an image evaluation unit, a second camera and a processor unit.
• the first camera is set up behind in an interior of the vehicle a disc of the vehicle to be arranged, so that the first camera through the disc a series with several
• Outdoor recordings of an external environment of the vehicle can record.
• the second camera is arranged to be arranged in the interior of the vehicle, so that the second camera can record a sequence of images with a plurality of interior photographs of a dashboard arranged in the interior of the vehicle.
• the processor unit is adapted to match the interior shots to the exterior shots and the image evaluation unit is adapted to extract image portions in the exterior shots, which are formed by mirroring the dashboard or located on the dashboard items on the disc from the outdoor shots.
• the image evaluation unit and the processor unit can also coincide, i. it can be a single entity that can perform the functions mentioned above.
• a method for suppressing a mirror image wherein a camera is arranged in an interior of a vehicle behind a pane of the vehicle and receives through the pane an image sequence with a plurality of exterior shots an external environment of the vehicle.
• the method includes detecting static
• the detection of the static image components in the exterior shots of the image sequence takes place by temporal averaging of the exterior shots of the image sequence by means of the image evaluation unit.
• the detection of the static image portions in the exterior shots of the image sequence can be effected by determining an optical flow within the exterior shots of the image sequence by means of the image evaluation unit.
• the detection of the static image components in the exterior shots of the image sequence is based on previously known structures by means of the
• Image evaluation unit wherein the previously known structures are stored in an image file, which can be accessed by the camera.
• the previously known structures are stored in an image file, which can be accessed by the camera.
• the previously known structures by
• an alternative method for suppressing a mirror image is provided.
• a first camera which is arranged in an interior of a vehicle behind a pane of the vehicle, takes through the pane an image sequence with a plurality of exterior shots an external environment of the vehicle.
• a second camera which is arranged in the interior of the vehicle, records an image sequence with a plurality of interior photographs of a dashboard arranged in the interior of the vehicle.
• the method comprises matching the interior photographs to the exterior photographs by means of a processor unit and a
• FIG. 1 is a side view of a vehicle with a
• FIG. 2 shows a more detailed side view of the camera system according to FIG. 1, FIG.
• Fig. 3 is a side view of another
• Fig. 4 is a photograph of an image sequence, which by a
• Fig. 5 shows the receptacle of Fig. 4, wherein only static
• Fig. 6 shows the receptacle of Fig. 4, wherein only moving
• FIG. 7 is a process diagram which illustrates an embodiment of a method according to the invention for suppressing a mirror image
• Fig. 8 is a further process scheme, which is another
• Fig. 1 shows a vehicle 1, in the illustrated embodiment, an automobile.
• the vehicle 1 comprises a camera system 2, which in turn has a camera 3 and an image evaluation unit 4.
• the camera system 2 as shown by Fig. 1, a Processor unit 5 include.
• the image evaluation unit 4 and the processor unit 5 can also be combined in a common unit.
• the camera 3 can be arranged in an interior space 6 of the vehicle 1, in particular in an area behind a windshield 7 of the vehicle 1. By means of the camera 3 can in a
• an image sequence is taken by the windshield 7 from an external environment 8 of the vehicle 1, the sequence of images comprising a plurality of exterior shots (FIG. 4), and the exterior shots taken in temporal succession.
• Detection range of the camera 3 is illustrated in Fig. 2 by dashed lines.
• Windscreen 7 a disturbing and therefore undesirable mirror image 10 is formed.
• the mirror image 10 is formed by a reflection of a
• the article 11 may, for example, be a magazine (especially light), a container or the like.
• the mirror image 10 can also be created by a reflection of the dashboard 12 on the inside 9 of the windshield 7 alone, without having to have an object 11 on the dashboard 12.
• the disturbing mirror image 10 is static in the exterior shots, whereas a useful image during the drive of the vehicle 1 depicts a moving scene. Under the "Nutztruck" can thereby a Be understood image area of the outdoor shot 13, wherein this image area does not include the disturbing mirror image 10.
• the outer receptacle 13 shows the
• Article 11 on the inside 9 of the windshield 7 is formed (Fig. 2).
• the mirror image 10 is static in the outer shot 13 shown by FIG. 4 and also in other (not shown) outside shots of the image sequence.
• the outer receptacle 13 shown by FIG. 4 shows a road 14, on which the vehicle 1 moves forward, wherein by means of the camera 3, a front area of the vehicle 1 is received in the individual outdoor receptacles 13.
• delineator 16 At lateral edges 15 of the road 14 are delineator 16, which in a forward movement of the
• the detection of the static image components 17 in the exterior photographs 13 can take place, for example, by temporal averaging, by determining an optical flow within the exterior photographs 13 and / or based on previously known structures (eg the dashboard 12 or the article 11), which in an image file are stored, which can be accessed by the image evaluation unit 4 of the camera 3.
• the detected static image portions 17 in the exterior photographs 13 can be subtractively removed in a subsequent method step 30 (See Fig. 7 and the first modified external image 13 ⁇ in Fig. 5), which can be done by the image evaluation unit 4 by means of image processing.
• the subtractive removal results in a second modified external image 13 ⁇ ⁇ (FIG. 6), which can be displayed, for example, in a further method step 40 on a display device (not shown) within the interior 6 of the vehicle 1.
• the second modified external image 13 ⁇ ⁇ no longer contains the disturbing mirror image 10.
• Fig. 3 shows an alternative configuration of a
• Embodiment of a camera system 2 according to the invention which can be used, for example, in the vehicle 1 according to FIG.
• the camera system 2 ⁇ according to FIG. 3 comprises a first camera 3.1 with a first image evaluation unit 4.1, a second camera 3.2 and a processor unit 5.
• the second camera 3.2 may comprise a second image evaluation unit 4.2.
• the processor unit 5 is arranged in the first camera 3.1. Alternatively, however, the processor unit 5 can also be arranged outside the first camera 3.1, for example within the second camera 3.2.
• the first camera 3.1 can be arranged in the interior 6 of the vehicle 1, specifically in the area behind the windshield 7 of the vehicle 1.
• a method step 100a see FIG a sequence of images are taken from an external environment 8 of the vehicle 1, wherein the image sequence comprises a plurality of exterior images (FIG. 4), and wherein the exterior images are made temporally successive.
• FIG. 3 A possible detection range of the first camera 3.1 is illustrated in FIG. 3 with dashed lines.
• a disturbing mirror image 10 on the inside 9 of the windshield 7 arise.
• a sequence of images with a plurality of interior photographs can be taken in a method step 100b by means of the second camera 3.2, the interior photographs being an image of the dashboard 12 arranged in the interior 6 of the vehicle 1 include. If an object 11 is located on the dashboard 12, this is also detected by the second camera 3.2.
• the second camera 3.2 is arranged correspondingly within the interior 6 of the vehicle 1 in order to detect the dashboard 12 or an object 11 located on the dashboard 12.
• Detection range of the second camera is illustrated in Fig. 3 by dashed lines.
• the method steps 100a and 100b can be carried out in particular at the same time.
• processor unit 5 can in another
• Exterior shots 13 are extracted, so that a modified outdoor shots 13 ⁇ ⁇ - as shown by Fig. 6 - arises.
• those parts of the image can be extracted, in particular, which are caused by a reflection of the dashboard 12, or which are caused by articles 11 which are located on the dashboard (see.
• the modified exteriors ⁇ 13 in Fig. 5) Furthermore, the modified exterior shots 13 ⁇ ⁇ of FIG. 6 in a further method step 400 on a Display device (not shown) within the interior 6 of the vehicle 1 are displayed.

Landscapes

• Engineering & Computer Science (AREA)
• Multimedia (AREA)
• Signal Processing (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Theoretical Computer Science (AREA)
• Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
• Closed-Circuit Television Systems (AREA)
• Mechanical Engineering (AREA)
• Studio Devices (AREA)
• Image Analysis (AREA)

Priority Applications (3)

Applications Claiming Priority (2)

Publications (1)

Family

ID=61074258

Family Applications (1)

Country Status (5)

Families Citing this family (4)

Citations (1)

Family Cites Families (8)

• 2017
  • 2017-02-10 DE DE102017202155.1A patent/DE102017202155A1/de not_active Withdrawn
  • 2017-12-11 EP EP17835926.1A patent/EP3580923B1/de active Active
  • 2017-12-11 JP JP2019519264A patent/JP2020508591A/ja active Pending
  • 2017-12-11 US US16/334,614 patent/US11007936B2/en active Active
  • 2017-12-11 WO PCT/DE2017/200133 patent/WO2018145680A1/de not_active Ceased

Patent Citations (1)

Non-Patent Citations (3)

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