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公开(公告)号：EP2033165B1
公开(公告)日：2018-07-11
申请号：EP07729449.4
申请日：2007-05-23
申请人： Robert Bosch GmbH
发明人： STEIN, Fridtjof
IPC分类号： G06T7/20
CPC分类号： G06T7/215
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2.发明公开
公开(公告)号：EP2033165A1
公开(公告)日：2009-03-11
申请号：EP07729449.4
申请日：2007-05-23
申请人： Robert Bosch GmbH
发明人： STEIN, Fridtjof
IPC分类号： G06T7/20
CPC分类号： G06T7/215
摘要： The invention relates to a method for picking up a traffic space using a driver assistance system (1) comprising a monocular image sensor (12). The image sensor (12) produces chronologically successive images of the traffic space. The images in the image sequence are used to ascertain the visual flow and to examine it for discontinuities. Discontinuities found in the visual flow are attributed to objects in the traffic space.
摘要翻译： 描述了一种用于检测包括包括单眼图像传感器的驾驶员辅助系统的交通空间的方法。 图像传感器产生交通空间的时间顺序连续的图像。 图像序列的图像用于确定视觉流，并检查其不连续性。 在视觉流中发现的不连续性被分配给交通空间中的对象。
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公开(公告)号：EP1836681A1
公开(公告)日：2007-09-26
申请号：EP05823954.2
申请日：2005-12-23
申请人： ROBERT BOSCH GMBH
IPC分类号： G06T7/20
摘要： The invention relates to a method for determining the displacement of a vehicle in an environment. According to said method: at least part of the environment is recorded by means of an imaging device that is fixed on the vehicle using snapshots; at least two snapshots are evaluated to determine the optical flows of pixels; reference points, which appear stationary form the point of view of the imaging device, are determined from the optical flows; and the reference points are combined to form an observation quantity. New reference points for the observation quantity are dynamically added using a first algorithm and existing reference points are dynamically removed from the observation quantity using a second algorithm. The invention also relates to a device (30) for carrying out said method.
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公开(公告)号：EP2321619A1
公开(公告)日：2011-05-18
申请号：EP09780752.3
申请日：2009-07-17
申请人： Robert Bosch GmbH
发明人： STUMBER, Tobias , RENDER, Ralf , STEIN, Fridtjof
CPC分类号： G01C25/00 , G01C11/00 , G06T7/85 , G06T2207/10012 , G06T2207/30252 , H04N13/239 , H04N13/246
摘要： The invention relates to a method for calibrating a multi-camera system comprising at least two cameras at a distance from one another, said cameras comprising electronic image sensors, wherein during calibration the cameras are aligned relative to one another with respect to the optical axes thereof, and wherein the cameras provide three-dimensional image information in particular and the multi-camera system is preferably disposed on a vehicle. The positions of the cameras relative to one another, in particular the relative alignment of the optical axes thereof are held constant before, during and after calibration, and the calibration of the cameras is accomplished through electronic processing of image information of at least one of the cameras. The invention further relates to a multi-camera system (1).
摘要翻译： 在用于校准具有彼此间隔开的至少两个照相机的多摄像机系统的方法中，照相机相对于它们的光轴彼此对准。 相机用于提供三维图像信息，并且多摄像机系统位于车辆上。 照相机相对于彼此的位置，特别是它们的光轴相对于彼此的对准在校准之前，期间和之后保持不变，并且通过电子处理来自以下的至少一个的图像信息来校准照相机： 相机。
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公开(公告)号：EP1836681B1
公开(公告)日：2009-04-22
申请号：EP05823954.2
申请日：2005-12-23
申请人： ROBERT BOSCH GMBH
IPC分类号： G06T7/20
摘要： The invention relates to a method for determining the displacement of a vehicle in an environment. According to said method: at least part of the environment is recorded by means of an imaging device that is fixed on the vehicle using snapshots; at least two snapshots are evaluated to determine the optical flows of pixels; reference points, which appear stationary form the point of view of the imaging device, are determined from the optical flows; and the reference points are combined to form an observation quantity. New reference points for the observation quantity are dynamically added using a first algorithm and existing reference points are dynamically removed from the observation quantity using a second algorithm. The invention also relates to a device (30) for carrying out said method.
摘要翻译： 提供了一种用于在环境中确定车辆的自动运动的方法和装置，其中至少部分环境通过安装在车辆上的成像装置的快照来记录。 分析至少两个快照以确定图像点的光学流动，从从光学流动确定的成像装置的观点来看，其似乎是静止的参考点。 参考点被收集在观察组中，借助于第一算法动态地将新的参考点动态地添加到所观察的组，并且借助于第二算法动态地从所观察的组中移除现有的参考点。
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