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    Method and a device for estimating an orientation of a camera relative to a road surface
    3.
    发明授权
    Method and a device for estimating an orientation of a camera relative to a road surface 有权

    公开(公告)号：US10102644B2

    公开(公告)日：2018-10-16

    申请号：US15384615

    申请日：2016-12-20

    Applicant: Delphi Technologies, Inc.

    Inventor： Jens Westerhoff ,  Stephanie Lessmann ,  Mirko Meuter ,  Jan Siegemund

    IPC: H04N9/47 ,  H04N7/18 ,  G06T7/70 ,  G06T7/00 ,  B60R11/04 ,  G06T3/20 ,  G06T7/60

    Abstract: A method of estimating an orientation of a camera relative to a surface includes providing a first image and a subsequent second image captured by the camera; selecting a first point from the first image and a second point from the second image, where the first and second points represent the same object; defining a first optical flow vector connecting the first point and the second point; carrying out a first estimation step comprising estimating two components of the normal vector in the camera coordinate system by using the first optical flow vector and restricting parameter space to only the two components of the normal vector, wherein a linear equation system derived from a homography matrix that represents a projective transformation between the first image and the second image is provided and the two components of the normal vector in the camera coordinate system are estimated by solving the linear equation system; and determining the orientation of the camera relative to the surface using the results of the first estimation step.

    METHOD AND A DEVICE FOR ESTIMATING AN ORIENTATION OF A CAMERA RELATIVE TO A ROAD SURFACE
    4.
    发明申请
    METHOD AND A DEVICE FOR ESTIMATING AN ORIENTATION OF A CAMERA RELATIVE TO A ROAD SURFACE 审中-公开

    公开(公告)号：US20170206674A1

    公开(公告)日：2017-07-20

    申请号：US15384615

    申请日：2016-12-20

    Applicant: Delphi Technologies, Inc.

    Inventor： Jens Westerhoff ,  Stephanie Lessmann ,  Mirko Meuter ,  Jan Siegemund

    IPC: G06T7/70 ,  B60R11/04 ,  G06T3/20 ,  G06T7/60 ,  G06T7/00

    CPC classification number: G06T7/70 ,  B60R11/04 ,  G06T3/20 ,  G06T7/60 ,  G06T7/97 ,  G06T2207/30244 ,  G06T2207/30252

    Abstract: A method of estimating an orientation of a camera relative to a surface includes providing a first image and a subsequent second image captured by the camera; selecting a first point from the first image and a second point from the second image, where the first and second points represent the same object; defining a first optical flow vector connecting the first point and the second point; carrying out a first estimation step comprising estimating two components of the normal vector in the camera coordinate system by using the first optical flow vector and restricting parameter space to only the two components of the normal vector, wherein a linear equation system derived from a homography matrix that represents a projective transformation between the first image and the second image is provided and the two components of the normal vector in the camera coordinate system are estimated by solving the linear equation system; and determining the orientation of the camera relative to the surface using the results of the first estimation step.

    Method To Determine Distance Of An Object From An Automated Vehicle With A Monocular Device
    6.
    发明申请
    Method To Determine Distance Of An Object From An Automated Vehicle With A Monocular Device 有权
    用于确定来自具有单眼装置的自动车辆的物体的距离的方法

    公开(公告)号：US20160180531A1

    公开(公告)日：2016-06-23

    申请号：US14953848

    申请日：2015-11-30

    Applicant: Delphi Technologies, Inc.

    Inventor： Stephanie Lessmann ,  Mirko Meuter ,  Dennis Mueller

    IPC: G06T7/00 ,  B60R1/00 ,  G06K9/00 ,  G06T7/20 ,  H04N5/225

    CPC classification number: B60R1/00 ,  B60R2300/8033 ,  B60R2300/804 ,  G06K9/00805 ,  G06K9/3241 ,  G06K9/6278 ,  G06T7/246 ,  G06T7/73 ,  H04N5/225

    Abstract: A method of determining the distance of an object from an automated vehicle based on images taken by a monocular image acquiring device. The object is recognized with an object-class by means of an image processing system. Respective position data are determined from the images using a pinhole camera model based on the object-class. Position data indicating in world coordinates the position of a reference point of the object with respect to the plane of the road is used with a scaling factor of the pinhole camera model estimated by means of a Bayes estimator using the position data as observations and under the assumption that the reference point of the object is located on the plane of the road with a predefined probability. The distance of the object from the automated vehicle is calculated from the estimated scaling factor using the pinhole camera model.

    Abstract translation: 根据单眼图像获取装置拍摄的图像确定物体与自动车辆的距离的方法。 通过图像处理系统用对象类识别对象。 使用基于对象类的针孔相机模型从图像确定相应的位置数据。 使用以世界坐标表示对象相对于道路平面的参考点的位置的位置数据，其中使用通过使用位置数据作为观测值的Bayes估计器估计的针孔相机模型的缩放因子，并且在 假设对象的参考点以预定的概率位于道路的平面上。 使用针孔照相机模型，根据估计的比例因子计算物体与自动车辆的距离。

    Method for the detection and tracking of lane markings
    9.
    发明授权
    Method for the detection and tracking of lane markings 有权
    检测和跟踪车道标记的方法

    公开(公告)号：US09047518B2

    公开(公告)日：2015-06-02

    申请号：US13650182

    申请日：2012-10-12

    Applicant: DELPHI TECHNOLOGIES, INC.

    Inventor： Christian Nunn ,  Mirko Meuter ,  Dennis Mueller ,  Steffen Goermer

    IPC: G06K9/00 ,  G06K9/32

    CPC classification number: G06K9/00798 ,  G06K2009/3291

    Abstract: In a method for the detection and tracking of lane markings from a motor vehicle, an image of a space located in front of the vehicle is captured by means of an image capture device at regular intervals. The picture elements that meet a predetermined detection criterion are identified as detected lane markings in the captured image. At least one detected lane marking as a lane marking to be tracked is subjected to a tracking process. At least one test zone is defined for each detected lane marking. With the aid of intensity values of the picture elements associated with the test zone, at least one parameter is determined. The detected lane marking is assigned to one of several lane marking categories, depending on the parameter.

    Abstract translation: 在用于检测和跟踪来自机动车辆的车道标记的方法中，通过图像捕获装置以规则的间隔捕获位于车辆前方的空间的图像。 符合预定检测标准的图像元素被识别为所捕获图像中检测到的车道标记。 至少一个检测到的车道标记作为要跟踪的车道标记被进行跟踪处理。 为每个检测到的车道标记定义至少一个测试区域。 借助于与测试区域相关联的图像元素的强度值，确定至少一个参数。 根据参数，检测到的车道标记被分配到几个车道标记类别之一。

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