WO2022263432A1 - Gated-kamera, kraftfahrzeug mit einer solchen gated-kamera und verfahren zum betreiben einer solchen gated-kamera - Google Patents
Gated-kamera, kraftfahrzeug mit einer solchen gated-kamera und verfahren zum betreiben einer solchen gated-kamera Download PDFInfo
- Publication number
- WO2022263432A1 WO2022263432A1 PCT/EP2022/066146 EP2022066146W WO2022263432A1 WO 2022263432 A1 WO2022263432 A1 WO 2022263432A1 EP 2022066146 W EP2022066146 W EP 2022066146W WO 2022263432 A1 WO2022263432 A1 WO 2022263432A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotation
- axis
- lighting device
- gated camera
- motor vehicle
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 18
- 230000003287 optical effect Effects 0.000 claims abstract description 40
- 230000001419 dependent effect Effects 0.000 claims description 2
- 238000005286 illumination Methods 0.000 abstract description 23
- 230000004913 activation Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000003068 static 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
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/0017—Devices integrating an element dedicated to another function
- B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
- B60Q1/249—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead for illuminating the field of view of a sensor or camera
-
- 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
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
Definitions
- the invention relates to a gated camera, a motor vehicle with such a gated camera and a method for operating such a gated camera.
- a more light-sensitive optical sensor and/or lens can be used to improve a gated camera.
- the disadvantage of this is that these components of a gated camera become larger and more expensive the more light-sensitive they are made.
- a more luminous intensity lighting device can be used to improve a gated camera. The disadvantage of this is that the lighting device becomes larger and more expensive the more luminous it is designed.
- the invention is based on the object of creating a gated camera, a motor vehicle with such a gated camera and a method for operating such a gated camera, the disadvantages mentioned being at least partially eliminated, preferably avoided.
- the object is achieved by providing the present technical teaching, in particular the teaching of the independent claims and the embodiments disclosed in the dependent claims and the description.
- the object is achieved in particular by creating a gated camera with at least one lighting device and an optical sensor.
- the at least one lighting device has at least one degree of freedom, so that the at least one lighting device is rotatably mounted with respect to at least one axis of rotation relative to the optical sensor.
- an opening angle of the at least one lighting device can advantageously be reduced in order to align a lighting frustum of the at least one lighting device with the user-defined area of the object-side scenery. It is thus advantageously possible to design the at least one lighting device to be smaller and more cost-effective than a conventional lighting device.
- the radiant intensity of the at least one lighting device can be increased by reducing the aperture angle. A detection accuracy of the gated camera can then advantageously be increased in this way.
- a conventional lighting device is arranged in the gated camera in such a way that it cannot be displaced relative to the optical sensor.
- the opening angle of the conventional lighting device therefore determines an illuminable area of the scenery on the object side.
- a gated camera is used in particular to carry out a method for generating recordings by means of a timed activation of the at least one lighting device and the optical sensor.
- a method is known in particular as a gated imaging method; in particular, the optical sensor is a camera that is only sensitively switched in a specific, limited time range, which is referred to as "gated activation".
- the at least one lighting device is also controlled correspondingly only in a specific, selected time interval in order to illuminate a scene on the object side, in particular a visible distance range.
- the at least one lighting device is set up to emit a predefined number of light pulses, preferably with a duration between 5 ns and 20 ns.
- the optical sensor in particular is set up in such a way that a start and an end of the exposure of the optical sensor are linked to the number and duration of the emitted light pulses and a start of the illumination.
- a specific visible distance range can be detected by the temporal activation of the at least one lighting device on the one hand and the optical sensor on the other hand with a correspondingly defined local position, i.e. in particular at specific distances between a near and a distant limit of the visible distance range from the optical sensor, by the optical Sensor are detected.
- a local position of the optical sensor and the at least one lighting device is known from the structure of the gated camera.
- a local distance between the at least one lighting device and the optical sensor is preferably known and small in comparison to the distance of the at least one lighting device or the optical sensor from the visible distance range.
- a distance between the optical sensor and the visible distance range is equal to a distance between the gated camera and the visible distance range.
- the visible distance range is that area in three-dimensional space - on the object side - which is defined by the number and duration of the light pulses of the at least one lighting device and the start of the lighting in connection with the start and end of the exposure of the optical sensor by means of the optical sensor in a two-dimensional recording is imaged on an image plane of the optical sensor.
- object-side an area in real space is addressed.
- on the image side an area on the image plane of the optical sensor is addressed.
- the visible distance range is given on the object side. This corresponds to an image-side area on the image plane that is assigned by the imaging laws and the temporal control of the at least one illumination device and the optical sensor.
- the optical sensor After the start and end of the exposure of the optical sensor after the start of the illumination by the at least one illumination device, light pulse photons impinge on the optical sensor.
- the further the visible distance range is from the at least one lighting device and the optical sensor the longer the time it takes for a photon that is reflected in it to meets the optical sensor.
- the time interval between the end of the illumination and the beginning of the exposure increases the further away the visible distance range is from the at least one illumination device and from the optical sensor.
- the at least one illumination device has at least one surface emitter, in particular a so-called VCSE laser.
- the optical sensor is preferably a camera.
- the at least one axis of rotation is preferably aligned orthogonally to a direction of travel of the motor vehicle and parallel to a road on which the motor vehicle is driving.
- a preferred embodiment provides for using the gated camera in a motor vehicle, in particular in a truck, in particular in an autonomously driving truck, to illuminate an object with a maximum height of 1 m at a maximum distance of 100 m.
- the at least one axis of rotation is preferably aligned orthogonally to the direction of travel of the motor vehicle and parallel to the road on which the motor vehicle is driving. It follows from this that the remote limit of the visible distance range is preferably at a distance of at most 100 m from the optical sensor. In a static scene—particularly when the road runs horizontally—this results in a vertical minimum opening angle ⁇ mm of the at least one lighting device of approximately 0.6°.
- a fix that the motor vehicle has an inclination angle y N of at most 1° during emergency braking.
- a road gradient ß of the road can vary by a maximum of 1.5° from a horizontal course.
- the installation angle m is preferably from at least 0° to at most 0.5°.
- the preceding General conditions with regard to the angle of inclination g N , the road gradient ß and the installation angle m must be observed, since the at least one lighting device can be adapted to these general conditions by rotating about the axis of rotation.
- a safety angle range of 0.4° in the gated camera according to the invention it is advantageously possible to increase the efficiency of the at least one lighting device by a factor of 4.
- a light pulse photon density in the illumination frustum can preferably be increased by a factor of at least 4 by reducing the vertical opening angle of the illumination frustum.
- a number of light pulse photons in the illumination frustum can be reduced by a factor of 4.
- road gradient is understood to mean both a gradient and a gradient of the road.
- the axis of rotation is preferably oriented orthogonally to the road.
- a horizontal opening angle of the at least one rotatable lighting device can preferably be selected to be smaller by a factor of 2 than the horizontal opening angle of a conventional lighting device.
- the gated camera has a movement device that is set up to rotate the at least one illumination device about the at least one axis of rotation relative to the optical sensor. It is advantageously possible by means of the movement device to dynamically illuminate the user-defined areas of the object-side scenery.
- the movement device has an actuator and a joint, the actuator and the joint being connected to the at least one lighting device in such a way that it can be rotated by means of a change in length of the actuator in connection with the joint.
- the movement device has the actuator and a rod, the rod running along the axis of rotation, the at least one lighting device being arranged on the rod and the actuator arranged to rotate the rod. The at least one lighting device is thus rotated by means of the actuator when the rod is rotated.
- the at least one lighting device is mounted such that it can rotate about two axes of rotation relative to the optical sensor.
- a first axis of rotation of the two axes of rotation and a second axis of rotation of the two axes of rotation are preferably aligned orthogonally to one another. This advantageously makes it possible to rotate the at least one lighting device in two directions.
- the vertical opening angle and the horizontal opening angle of the lighting frustum can thus preferably be changed, in particular reduced, and thus the efficiency of the at least one lighting device can be additionally increased.
- the gated camera in particular the movement device, has two actuators for rotating the at least one lighting device.
- the movement device is designed as a two-axis gimbal system.
- the gated camera has a first lighting device and a second lighting device as the at least one lighting device.
- the first illumination device and the second illumination device are coupled in such a way that they can each be rotated simultaneously about at least one axis of rotation relative to the optical sensor.
- the first lighting device can be rotated about a first axis of rotation and the second lighting device can be rotated about a second first axis of rotation.
- the first first axis of rotation and the second first axis of rotation are preferably aligned parallel to one another; the first first axis of rotation and the second first axis of rotation are particularly preferably identical.
- both the first illumination device and the second illumination device are mounted so as to be rotatable in relation to a first axis of rotation and a second axis of rotation in each case relative to the optical sensor.
- the first lighting device can preferably be rotated about the first first axis of rotation and a first second axis of rotation.
- the second lighting device can preferably be rotated about the second first axis of rotation and a second second axis of rotation.
- the first first axis of rotation and the second first axis of rotation aligned parallel to one another, particularly preferably the first first axis of rotation and the second first axis of rotation are identical.
- the first second axis of rotation and the second second axis of rotation are aligned parallel to one another; the first second axis of rotation and the second second axis of rotation are particularly preferably identical.
- the first lighting device can be rotated about the first first axis of rotation and the first second axis of rotation.
- the second lighting device can preferably be rotated about the second first axis of rotation and the second second axis of rotation.
- the first first axis of rotation and the second first axis of rotation are preferably identical.
- the first second axis of rotation and the second second axis of rotation are spaced apart from one another and aligned parallel to one another.
- the first lighting device can be rotated about the first first axis of rotation and the first second axis of rotation.
- the second lighting device can preferably be rotated about the second first axis of rotation and the second second axis of rotation.
- the first first axis of rotation and the second first axis of rotation are preferably identical and aligned orthogonally to the direction of travel of the motor vehicle and parallel to the road.
- the first second axis of rotation and the second second axis of rotation are orthogonal to the road, spaced apart from one another and aligned parallel to one another.
- the object is also achieved by creating a control device that is set up to rotate, in particular a rotation angle, of the at least one lighting device of a gated camera according to the invention or a gated camera according to one or more of the above-described ones, depending on at least one parameter Specify embodiments with respect to the at least one axis of rotation and preferably set.
- the control device is preferably designed as a computing device, particularly preferably as a computer, or as a control unit, in particular as a control unit of a motor vehicle. In connection with the control device, there are in particular the advantages that have already been explained in connection with the gated camera.
- the object is also achieved by providing a gated camera device which comprises a gated camera according to the invention or a gated camera according to one or more of the embodiments described above and a control device according to the invention or a control device according to one or more of the embodiments described above having.
- a gated camera device which comprises a gated camera according to the invention or a gated camera according to one or more of the embodiments described above and a control device according to the invention or a control device according to one or more of the embodiments described above having.
- the gated camera device additionally has the movement device.
- the control device is preferably operatively connected to the gated camera, in particular to the at least one lighting device and the optical sensor, and set up to control them in each case.
- the control device is preferably operatively connected to the movement device and set up to control it.
- the object is also achieved by creating a motor vehicle with a gated camera according to the invention or a gated camera according to one or more of the embodiments described above and a control device.
- the control device is set up to specify the rotation, in particular the angle of rotation, of the at least one lighting device in relation to the at least one axis of rotation as a function of at least one parameter.
- the motor vehicle has a gated camera device according to the invention or a gated camera device according to one or more of the embodiments described above. In connection with the motor vehicle, there are in particular the advantages that have already been explained in connection with the gated camera.
- the at least one parameter is selected from a group consisting of a vehicle pitch angle, a vehicle yaw angle, road grade, and road curvature.
- the motor vehicle is designed as an autonomously driving motor vehicle.
- the motor vehicle is preferably designed as a truck.
- the motor vehicle it is also possible for the motor vehicle to be in the form of a passenger car, a commercial vehicle, or another motor vehicle.
- the object is also achieved by creating a method for operating a gated camera according to the invention or a gated camera according to one or more of the embodiments described above in a motor vehicle.
- At least one parameter of the motor vehicle and/or the road is determined, with a rotation, in particular a rotation angle, of the at least one lighting device in relation to the at least one axis of rotation being specified and/or set on the basis of the at least one parameter.
- a rotation, in particular a rotation angle, of the at least one lighting device in relation to the at least one axis of rotation being specified and/or set on the basis of the at least one parameter.
- the at least one parameter is selected from a group consisting of the pitch angle of the motor vehicle, the yaw angle of the motor vehicle, the road gradient and the road curvature.
- the first axis of rotation is selected in such a way that it is aligned orthogonally to the direction of travel of the motor vehicle and parallel to the road.
- the second axis of rotation is selected in such a way that it is aligned orthogonally to the road.
- the at least one lighting device is rotated by a first angle of rotation in relation to the first axis of rotation as a function of the pitch angle of the motor vehicle and/or the gradient of the road.
- the at least one lighting device is rotated by a second rotation angle with respect to the second rotation axis depending on the yaw angle of the motor vehicle and/or the curvature of the road.
- FIG. 1 shows a schematic representation of a first exemplary embodiment of a gated camera
- FIG. 2 shows a schematic representation of a second exemplary embodiment of the gated camera
- FIG. 3 shows a schematic representation of a third exemplary embodiment of the gated camera
- FIG. 4 shows a schematic representation of a first exemplary embodiment of a motor vehicle
- FIG. 5 shows a schematic representation of a second exemplary embodiment of the motor vehicle
- Fig. 6 is a schematic representation of a flowchart of a
- Embodiment of a method for operating the gated camera Embodiment of a method for operating the gated camera.
- FIG. 1 shows a schematic representation of a first exemplary embodiment of a gated camera 1.
- the gated camera 1 has at least one lighting device 3 and an optical sensor 5.
- the at least one lighting device 3 has at least one degree of freedom, so that the at least one lighting device 3 is rotatably mounted with respect to at least one axis of rotation 7 relative to the optical sensor.
- the at least one axis of rotation 7 is perpendicular to the plane of the drawing in FIG.
- An arrow 9 shows that the at least one lighting device 3 can be rotated.
- FIG. 1 also shows an illumination frustum 11 of the at least one illumination device 3 and an observation area 13 of the optical sensor 5.
- the gated camera 1 preferably has a movement device 15 which is set up to displace the at least one lighting device 3 in relation to the at least one axis of rotation 7 .
- the movement device 15 of the first exemplary embodiment of the gated camera 1 particularly preferably has an actuator 17 and a joint 19 .
- a change in length of the actuator 17 in a The vertical direction is converted into a rotation of the at least one lighting device 3 about the at least one axis of rotation 7 by means of the joint 19 .
- Figure 2 shows a schematic representation of a second exemplary embodiment of the gated camera 1.
- the movement device 15 preferably has the actuator 17 and a rod 21 .
- the rod 21 is preferably arranged along the at least one axis of rotation 7 and the at least one lighting device 3 is additionally attached to the rod 21 .
- the rod 21 is rotated by means of the actuator 17, as a result of which the at least one lighting device 3 is also rotated.
- the at least one lighting device 3 preferably has a surface emitter 23, in particular a laser, in particular a VCSE laser.
- Figure 3 shows a schematic representation of a third exemplary embodiment of the gated camera 1.
- the at least one lighting device 3 is preferably mounted such that it can rotate with respect to two axes of rotation 7 .
- a first axis of rotation 7.1 of the two axes of rotation 7 and a second axis of rotation 7.2 of the two axes of rotation 7 are particularly preferably aligned orthogonally to one another.
- the movement device 15 is particularly preferably designed as a two-axis gimbal system.
- the movement device 15 preferably has a first rod
- the first rod 21.1 is rotated by means of a first actuator 17.1 and the second rod 21.2 by means of a second actuator 17.2.
- Figure 4 shows a schematic representation of a first exemplary embodiment of a motor vehicle 25 with a fourth exemplary embodiment of gated camera 1 and a control device 27.
- the control device 27 is functionally connected to the gated camera 1 in a way that is not explicitly shown and is set up to control it.
- the control device is set up to specify a rotation, in particular a rotation angle, of the at least one lighting device 3 in relation to the at least one axis of rotation 7 as a function of at least one parameter.
- a conventional lighting frustum 11' of a conventional lighting device is shown. This shows that a vertical opening angle of the lighting frustum 11 can be selected to be smaller than a vertical opening angle of the conventional lighting frustum 11' due to the rotatability of the at least one lighting device 3.
- the at least one lighting device 3 is particularly preferably mounted such that it can rotate in relation to the first axis of rotation 7.1 and the second axis of rotation 7.2.
- the first axis of rotation 7.1 is preferably aligned orthogonally to a direction of travel 29 of the motor vehicle 25 and parallel to a road 31.
- the second axis of rotation 7.2 is preferably aligned orthogonally to the road 31.
- Figure 5 shows a schematic representation of a second exemplary embodiment of motor vehicle 25 with a fifth exemplary embodiment of gated camera 1 and control device 27.
- the gated camera 1 has a first illumination device 3.1 and a second illumination device 3.2 as the at least one illumination device 3.
- the first lighting device 3.1 and the second lighting device 3.2 are particularly preferably coupled in such a way that they can be rotated simultaneously about at least one axis of rotation 7—in particular the first axis of rotation 7.1 and/or the second axis of rotation 7.2.
- the first lighting device 3.1 has the first axis of rotation 7.1 and a first second axis of rotation 7.2.
- the second lighting device 3.2 in particular has the first axis of rotation 7.1 and a second axis of rotation 7.2'.
- the first second axis of rotation 7.2 and the second second axis of rotation 7.2' are preferably aligned parallel to one another.
- the first lighting device 3.1 preferably produces a first lighting frustum 11.1.
- the second lighting device 3.2 preferably produces a second lighting frustum 11.2.
- the control device 27 is preferably functionally connected to both the first lighting device 3.1 and the second lighting device 3.2 in a manner that is not explicitly shown, and is set up to control them in each case.
- the control device 27 is preferably set up to carry out a method for operating the gated camera.
- Figure 6 shows a schematic representation of a flow chart of an embodiment of the method for operating the gated camera 1 in a motor vehicle 25.
- a first step a) at least one parameter 33 of motor vehicle 25 and/or road 31 is determined.
- the at least one parameter 33 is preferably selected from a group consisting of a pitch angle of the motor vehicle 25, a yaw angle of the motor vehicle 25, a road gradient, and a road curvature.
- a rotation, in particular a rotation angle 35, of the at least one lighting device 3 in relation to the at least one axis of rotation 7 is specified and/or set on the basis of the at least one parameter 33.
- the first axis 7.1 is preferably selected in such a way that it is aligned orthogonally to the direction of travel 29 of the motor vehicle 25 and parallel to the road 31.
- the second axis 7.2 is selected in such a way that it is aligned orthogonally to the road 31.
- the at least one lighting device 3 is particularly preferably rotated by a first rotation angle 35.1 in relation to the first rotation axis 7.1 as a function of the pitch angle of the motor vehicle 25 and/or the road gradient.
- the at least one lighting device 3 is particularly preferred by a second angle of rotation 35.2 in relation rotated on the second axis of rotation 7.2 depending on the yaw angle of the motor vehicle 25 and/or the curvature of the road.
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- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Studio Devices (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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CN202280042956.0A CN117546474A (zh) | 2021-06-18 | 2022-06-14 | 选通摄像头、具有这种选通摄像头的机动车和操作这种选通摄像头的方法 |
US18/571,027 US20240196100A1 (en) | 2021-06-18 | 2022-06-14 | Gated Camera, Motor Vehicle Having Such a Gated Camera, and Method for Operating Such a Gated Camera |
EP22733095.8A EP4356599A1 (de) | 2021-06-18 | 2022-06-14 | Gated-kamera, kraftfahrzeug mit einer solchen gated-kamera und verfahren zum betreiben einer solchen gated-kamera |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102021003160.1 | 2021-06-18 | ||
DE102021003160.1A DE102021003160A1 (de) | 2021-06-18 | 2021-06-18 | Gated-Kamera, Kraftfahrzeug mit einer solchen Gated-Kamera und Verfahren zum Betreiben einer solchen Gated-Kamera |
Publications (1)
Publication Number | Publication Date |
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WO2022263432A1 true WO2022263432A1 (de) | 2022-12-22 |
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PCT/EP2022/066146 WO2022263432A1 (de) | 2021-06-18 | 2022-06-14 | Gated-kamera, kraftfahrzeug mit einer solchen gated-kamera und verfahren zum betreiben einer solchen gated-kamera |
Country Status (5)
Country | Link |
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US (1) | US20240196100A1 (de) |
EP (1) | EP4356599A1 (de) |
CN (1) | CN117546474A (de) |
DE (1) | DE102021003160A1 (de) |
WO (1) | WO2022263432A1 (de) |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102014009860A1 (de) | 2014-07-03 | 2016-01-07 | Audi Ag | Time-of-Flight-Kamera, Kraftfahrzeug und Verfahren zum Betrieb einer Time-of-Flight-Kamera in einem Kraftfahrzeug |
-
2021
- 2021-06-18 DE DE102021003160.1A patent/DE102021003160A1/de active Pending
-
2022
- 2022-06-14 US US18/571,027 patent/US20240196100A1/en active Pending
- 2022-06-14 CN CN202280042956.0A patent/CN117546474A/zh active Pending
- 2022-06-14 EP EP22733095.8A patent/EP4356599A1/de active Pending
- 2022-06-14 WO PCT/EP2022/066146 patent/WO2022263432A1/de active Application Filing
Non-Patent Citations (1)
Title |
---|
LEFCOURT ALAN M ET AL: "Design of an automated cart and mount for a hyperspectral imaging system to be used in produce fields", PROCEEDINGS OF SPIE; [PROCEEDINGS OF SPIE ISSN 0277-786X VOLUME 10524], SPIE, US, vol. 9864, 17 May 2016 (2016-05-17), pages 98640R - 98640R, XP060069656, ISBN: 978-1-5106-1533-5, DOI: 10.1117/12.2229493 * |
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Publication number | Publication date |
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DE102021003160A1 (de) | 2022-12-22 |
EP4356599A1 (de) | 2024-04-24 |
US20240196100A1 (en) | 2024-06-13 |
CN117546474A (zh) | 2024-02-09 |
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