JP2017515727A - 車両の車両周辺部の歪無い表示のための方法、並びに、装置 - Google Patents
車両の車両周辺部の歪無い表示のための方法、並びに、装置 Download PDFInfo
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- 230000033001 locomotion Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/10—Geometric effects
- G06T15/20—Perspective computation
- G06T15/205—Image-based rendering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T9/00—Image coding
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- 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
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- 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
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- 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
- B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
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- 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
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- 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
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
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- 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
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- 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
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
- B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
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- 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
- B60R2300/306—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images
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- 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
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
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- 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
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
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- B60—VEHICLES IN GENERAL
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- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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- 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
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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- Geometry (AREA)
- Computing Systems (AREA)
- Computer Graphics (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Processing (AREA)
Abstract
Description
車両の車載カメラによって車両周辺部のカメラ画像を作成するステップ、
作成されたカメラ画像を車両周辺部の周辺画像を作成するために処理するステップ、
車載カメラによって捕捉されたテクスチャーを、車載センサー類によって提供されたセンサーデータをベースに算出されたアダプティブな車両周辺部に近似した再・投影面に再・投影するステップ。
Claims (15)
- データ処理ユニット(3)によって、表示ユニット(4)上に表示されるサラウンド・ビュー画像乃至周辺画像を作成するために、処理されるカメラ画像を提供する少なくとも一台の車載カメラ(2)を有する、但し、該データ処理ユニット(3)が、車載カメラ(2)によって捕捉されたテクスチャーを、車載センサー類(5)によって提供されたセンサーデータをベースに算出されるアダプティブな車両周辺部に近似した再・投影面に再・投影することを特徴とする車両用(6)のカメラ・サラウンド・ビュー・システム(1)。
- 車載センサー類(5)によって提供されたセンサーデータが、車両(6)の車両周辺部を再現することを特徴とする請求項1に記載のカメラ・サラウンド・ビュー・システム。
- センサーデータが、駐車間隔データ、レーダーデータ、ライダーデータ、カメラデータ、レーザーデータ、並びに、動きに関するデータを包含していることを特徴とする請求項2に記載のカメラ・サラウンド・ビュー・システム。
- 算出されたアダプティブな再・投影面が、動的に可変なグリッドを有していることを特徴とする請求項1から3のうち何れか一項に記載のカメラ・サラウンド・ビュー・システム。
- 再・投影面の該グリッドが、提供されたセンサーデータに基づいて動的に可変であることを特徴とする請求項4に記載のカメラ・サラウンド・ビュー・システム。
- 再・投影面の該グリッドが、三次元グリッドであることを特徴とする請求項4或いは5に記載のカメラ・サラウンド・ビュー・システム。
- 先行請求項1から6のうち何れか一項に記載のカメラ・サラウンド・ビュー・システム(1)を備えた車両(6)用のドライバー・アシスタント・システム。
- 以下のステップを有することを特徴とする車両(6)の車両周辺部の歪みない表示を得るための方法:
(a) 車両(6)の車載カメラ(2)によって車両周辺部のカメラ画像を作成するステップ(S1)、
(b) 作成されたカメラ画像を車両周辺部の周辺画像を作成するために処理するステップ(S2)、
(c) 車載カメラ(2)によって捕捉されたテクスチャーを、車載センサー類(5)によって提供されたセンサーデータをベースに算出されたアダプティブな車両周辺部に近似した再・投影面に再・投影するステップ(S3)。 - 車載センサー類(5)によって提供されたセンサーデータが、車両(6)の車両周辺部を描写していることを特徴とする請求項8に記載の方法。
- 該センサーデータが、駐車間隔データ、レーダーデータ、ライダーデータ、カメラデータ、レーザー・スキャンデータ、並びに、動きに関するデータを包含していることを特徴とする請求項9に記載の方法。
- アダプティブな再・投影面が、動的に可変なグリッドを有していることを特徴とする請求項8から10のうち何れか一項に記載の方法。
- 再・投影面の該グリッドが、提供されたセンサーデータに基づいて動的に変更されることを特徴とする請求項11に記載の方法。
- 再・投影面の該グリッドが、三次元グリッドを有していることを特徴とする請求項11或いは12に記載の方法。
- 請求項8から13のうち一項に記載の方法を実施する命令を有するコンピューター・プログラム。
- 請求項7に記載のドライバー・アシスタント・システムを備えた車両、特に好ましくは、道路交通用車両。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102014208664.7 | 2014-05-08 | ||
DE102014208664.7A DE102014208664A1 (de) | 2014-05-08 | 2014-05-08 | Verfahren und vorrichtung zum verzerrungsfreien anzeigen einer fahrzeugumgebung eines fahrzeuges |
PCT/DE2015/200301 WO2015169316A2 (de) | 2014-05-08 | 2015-05-06 | Verfahren und vorrichtung zum verzerrungsfreien anzeigen einer fahrzeugumgebung eines fahrzeuges |
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JP2017515727A true JP2017515727A (ja) | 2017-06-15 |
JP2017515727A5 JP2017515727A5 (ja) | 2020-01-30 |
JP6860348B2 JP6860348B2 (ja) | 2021-04-14 |
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US (1) | US20170203692A1 (ja) |
EP (1) | EP3140813B1 (ja) |
JP (1) | JP6860348B2 (ja) |
KR (1) | KR101911610B1 (ja) |
CN (1) | CN106462996B (ja) |
DE (2) | DE102014208664A1 (ja) |
WO (1) | WO2015169316A2 (ja) |
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EP3895135A4 (en) * | 2018-12-13 | 2022-08-24 | Continental Automotive GmbH | METHOD OF RECOGNIZING AND MODELING AN OBJECT ON A ROAD SURFACE |
DE102019203274B3 (de) | 2019-03-11 | 2020-07-09 | Zf Friedrichshafen Ag | Computerimplementiertes Verfahren zum Erstellen eines Umfeldmodells für ein automatisiert betreibbares Fahrzeug, Steuergerät und Computerprogrammprodukt zur automatisierten Steuerung eines Fahrzeuges und Steuerungssystem für ein Fahrzeug |
TWM593949U (zh) * | 2019-04-19 | 2020-04-21 | 帷享科技股份有限公司 | 用於車輛之影像整合警示系統 |
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2014
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2015
- 2015-05-06 JP JP2016565679A patent/JP6860348B2/ja active Active
- 2015-05-06 WO PCT/DE2015/200301 patent/WO2015169316A2/de active Application Filing
- 2015-05-06 CN CN201580024006.5A patent/CN106462996B/zh active Active
- 2015-05-06 EP EP15733612.4A patent/EP3140813B1/de active Active
- 2015-05-06 US US15/309,710 patent/US20170203692A1/en not_active Abandoned
- 2015-05-06 DE DE112015000833.0T patent/DE112015000833A5/de not_active Withdrawn
- 2015-05-06 KR KR1020167029142A patent/KR101911610B1/ko active IP Right Grant
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JP2004297808A (ja) * | 2003-03-25 | 2004-10-21 | Aisin Seiki Co Ltd | 移動体周辺監視装置 |
JP2012147149A (ja) * | 2011-01-11 | 2012-08-02 | Aisin Seiki Co Ltd | 画像生成装置 |
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JP2021516390A (ja) * | 2018-03-09 | 2021-07-01 | コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツングConti Temic microelectronic GmbH | 調整された投影面を有するサラウンドビュー・システム |
JP7295123B2 (ja) | 2018-03-09 | 2023-06-20 | コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツング | 調整された投影面を有するサラウンドビュー・システム |
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CN106462996B (zh) | 2020-06-09 |
US20170203692A1 (en) | 2017-07-20 |
DE112015000833A5 (de) | 2016-12-08 |
KR20160145598A (ko) | 2016-12-20 |
JP6860348B2 (ja) | 2021-04-14 |
EP3140813B1 (de) | 2019-07-10 |
EP3140813A2 (de) | 2017-03-15 |
WO2015169316A3 (de) | 2015-12-30 |
WO2015169316A2 (de) | 2015-11-12 |
CN106462996A (zh) | 2017-02-22 |
DE102014208664A1 (de) | 2015-11-12 |
KR101911610B1 (ko) | 2018-10-24 |
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