公开(公告)号：US20070165908A1

公开(公告)日：2007-07-19

申请号：US10528810

申请日：2003-09-19

申请人： Thomas Braeunl ,  Uwe Franke

发明人： Thomas Braeunl ,  Uwe Franke

IPC分类号： G06K9/00

CPC分类号： G06K9/00812 ,  G06T7/593

摘要： The first commercially-available driver assist systems required a compromise between the resolution of the scanning and the extent of the scanned region, according to application. Conventional video-based systems have a good compromise between resolution and recording range, however do not generally provide direct distance information. According to the new arrangement of the object of the invention, it is possible to achieve a system, which, on installation in a road vehicle, can record complex dynamic scenes, for example the lateral 3D geometry to the road edge from the point of view of the dynamically operating vehicle and use the same to advantage on parking. According to the invention, the monitoring and measuring of the lateral environment of a vehicle is displayed on the one hand by means of a camera with the digital images and on the other hand with a computer unit which serves to provide the images with a time stamp and to buffer the same. The movements of the vehicle are further recorded, in order to select image pairs from the buffered images, based on the above data. A local 3D depth image of the lateral environment of a vehicle can thus be generated by an algorithm for stereo image processing.

摘要翻译： 根据应用，第一个可商购的驾驶员辅助系统需要扫描分辨率和扫描区域的范围之间的折衷。 常规的基于视频的系统在分辨率和记录范围之间具有很好的折中，但是通常不提供直接的距离信息。 根据本发明的目的的新方案，可以实现一种系统，其可以在道路车辆的安装中记录复杂的动态场景，例如从侧面观察侧向3D几何形状到道路边缘 的动态操作车辆，并在停车时使用相同的优势。 根据本发明，一方面通过具有数字图像的照相机显示车辆的横向环境的监测和测量，另一方面通过计算机单元来显示，该计算机单元用于向图像提供时间戳 并缓冲。 进一步记录车辆的运动，以便根据上述数据从缓冲图像中选择图像对。 因此，可以通过用于立体图像处理的算法来生成车辆的横向环境的局部3D深度图像。

公开(公告)号：US07365831B2

公开(公告)日：2008-04-29

申请号：US10528810

申请日：2003-09-19

申请人： Thomas Hans Braeunl ,  Uwe Franke

发明人： Thomas Hans Braeunl ,  Uwe Franke

IPC分类号： G01C3/08

CPC分类号： G06K9/00812 ,  G06T7/593

摘要： The first commercially-available driver assist systems required a compromise between the resolution of the scanning and the extent of the scanned region, according to application. Conventional video-based systems have a good compromise between resolution and recording range, however do not generally provide direct distance information. According to the new arrangement of the object of the invention, it is possible to achieve a system, which, on installation in a road vehicle, can record complex dynamic scenes, for example the lateral 3D geometry to the road edge from the point of view of the dynamically operating vehicle and use the same to advantage on parking. According to the invention, the monitoring and measuring of the lateral environment of a vehicle is displayed on the one hand by means of a camera with the digital images and on the other hand with a computer unit which serves to provide the images with a time stamp and to buffer the same. The movements of the vehicle are further recorded, in order to select image pairs from the buffered images, based on the above data. A local 3D depth image of the lateral environment of a vehicle can thus be generated by an algorithm for stereo image processing.

摘要翻译： 根据应用，第一个可商购的驾驶员辅助系统需要扫描分辨率和扫描区域的范围之间的折衷。 常规的基于视频的系统在分辨率和记录范围之间具有很好的折中，但是通常不提供直接的距离信息。 根据本发明的目的的新方案，可以实现一种系统，其可以在道路车辆的安装中记录复杂的动态场景，例如从侧面观察侧向3D几何形状到道路边缘 的动态操作车辆，并在停车时使用相同的优势。 根据本发明，一方面通过具有数字图像的照相机显示车辆的横向环境的监测和测量，另一方面通过计算机单元来显示，该计算机单元用于向图像提供时间戳 并缓冲。 进一步记录车辆的运动，以便根据上述数据从缓冲图像中选择图像对。 因此，可以通过用于立体图像处理的算法来生成车辆的横向环境的局部3D深度图像。

公开(公告)号：US5937079A

公开(公告)日：1999-08-10

申请号：US923937

申请日：1997-09-05

申请人： Uwe Franke

发明人： Uwe Franke

IPC分类号： G01B11/00 ,  G06K9/00 ,  G06K9/32 ,  G06T1/00 ,  G06T7/20 ,  G08G1/04 ,  H04N13/00

CPC分类号： G06K9/209 ,  G06K9/00805 ,  G06T7/2086 ,  G08G1/04 ,  G06K2209/23 ,  G06T2207/10012 ,  H04N13/0239 ,  H04N2013/0081 ,  H04N2013/0085

摘要： In a method for detecting and tracking objects by stereo image evaluation a part of structure class images is initially generated from a recorded stereo image pair. Differences in brightness of selected pixels in the environment are determined for each pixel as digital values, which are combined to form a digital value group, with identical groups defining their own structure classes. Structure classes which lack a brightness change along the epipolar line are discarded. Corresponding disparity values are then determined for the pixels in the other structure classes and are collected in a disparity histogram with a given frequency increment. The pixel group that belongs to a given grouping point area of the histogram is then interpreted as an object to be detected.

摘要翻译： 在通过立体图像评估来检测和跟踪对象的方法中，结构类图像的一部分最初从记录的立体图像对生成。 对于每个像素，确定每个像素中的所选像素的亮度差异，其数字值被组合以形成数字值组，具有定义其自身结构类别的相同组。 丢弃沿着线极线缺少亮度变化的结构类。 然后对于其他结构类别中的像素确定相应的视差值，并且以具有给定频率增量的视差直方图被收集。 然后将属于直方图的给定分组点区域的像素组解释为要检测的对象。

公开(公告)号：US5890083A

公开(公告)日：1999-03-30

申请号：US612288

申请日：1996-03-07

申请人： Uwe Franke ,  Stefan Hahn

发明人： Uwe Franke ,  Stefan Hahn

IPC分类号： G01B11/14 ,  B60Q9/00 ,  B60W30/00 ,  G01S3/784 ,  G01S11/12 ,  G01S17/08 ,  G01S17/93 ,  G05D1/02 ,  G08G1/04 ,  G08G1/16

CPC分类号： G08G1/04 ,  G01S3/784 ,  G05D1/0246 ,  G05D1/0255 ,  B60T2201/08 ,  B60T2201/082 ,  G01S11/12

摘要： Apparatus is provided for determining the distance of a vehicle from a roadway side marking. An arrangement of light sensitive sensor elements is fitted to the vehicle for optically scanning a portion of the roadway located in front of the vehicle. An evaluation unit, connected downstream of the sensor element arrangement, is also provided. Only one or a few sensor element lines are used as the sensor element arrangement. Each line scans a narrow strip of the roadway which runs in front of the vehicle, not parallel to the vehicle longitudinal axis, and extends laterally as far as the roadway side marking. The evaluation unit reads each sensor element line sequentially and processes the received signals to determine the lateral distance of the vehicle from the roadway marking. The relatively small quantity of data which accumulates permits the processing of the data digitally in real time by a conventional microprocessor. The apparatus is used as sleep warning system or lane guard for motor vehicles.

摘要翻译： 设置用于确定车辆与道路侧标记的距离的装置。 光敏传感器元件的布置被安装到车辆上，用于光学扫描位于车辆前方的道路的一部分。 还提供连接在传感器元件布置的下游的评估单元。 仅使用一个或几个传感器元件线作为传感器元件布置。 每条线扫描在车辆前方延伸的道路的窄条，不平行于车辆纵向轴线，并且横向延伸至道路侧标记的距离。 评估单元依次读取每个传感器元件线，处理接收到的信号，以确定车辆与道路标记的横向距离。 积累的相对少量的数据允许通过常规微处理器实时地数字地处理数据。 该装置用作机动车辆的睡眠警告系统或车道护栏。

公开(公告)号：US20140205184A1

公开(公告)日：2014-07-24

申请号：US14237590

申请日：2012-07-21

申请人： Uwe Franke ,  David Pfeiffer

发明人： Uwe Franke ,  David Pfeiffer

IPC分类号： G06K9/00

CPC分类号： G06K9/00201 ,  G06K9/00805 ,  G06T7/593

摘要： A method for environmental representation, in which two images of an environment (U) are taken respectively and a disparity image is determined by means of stereo image processing. An unobstructed free space (F) is identified in the disparity image, in that each pixel of the disparity image is allocated either to the unobstructed ground surface (B) or to one of several segments (S11 to Snu) depending on disparity values of the respective pixel. Segments (S11 to Snu) of the same width are formed from pixels of the same or similar distance to an image plane. An object (O1 to Ok) located outside of the free space (F) is modelled in the environment (U) using one segment (S11 to Snu) or several segments (S11 to Snu).

摘要翻译： 一种用于环境表示的方法，其中分别采用环境（U）的两个图像，并且通过立体图像处理来确定视差图像。 在视差图像中识别出无阻碍的空闲空间（F），因为视差图像的每个像素被分配给无障碍地面（B）或者分配给几个段（S11至Snu）中的一个，取决于视差图 各自的像素。 具有相同宽度的段（S11至Snu）由与像平面相同或相似距离的像素形成。 位于自由空间（F）外的物体（O1〜Ok）利用一个段（S11〜Snu）或多个段（S11〜Snu）在环境（U）中建模。

公开(公告)号：US07499644B2

公开(公告)日：2009-03-03

申请号：US10543574

申请日：2004-01-19

申请人： Uwe Franke ,  Alexander Wuerz-Wessel

发明人： Uwe Franke ,  Alexander Wuerz-Wessel

IPC分类号： G03B17/48 ,  H04N7/18 ,  H04N9/47 ,  B60Q1/00 ,  B60Q1/48 ,  G08G1/16 ,  G08G1/14

CPC分类号： B60R1/00 ,  B60R11/04 ,  B60R2300/105 ,  B60R2300/30 ,  B60R2300/802 ,  B60R2300/806 ,  B60R2300/8066

摘要： The invention relates to a vehicle (1) comprising at least one catadioptric camera (2), which is mounted on the vehicle and which has an optical axis (5) and at least one first mirror (6) that is arranged on the optical axis. The optical axis (5) of the camera (2) is slanted relative to a vertical (9).

摘要翻译： 本发明涉及一种车辆（1），其包括至少一个反射折射照相机（2），其被安装在车辆上，并且具有光轴（5）和至少一个第一反射镜（6），其布置在光轴 。 相机（2）的光轴（5）相对于垂直（9）倾斜。

公开(公告)号：US20050278112A1

公开(公告)日：2005-12-15

申请号：US11152640

申请日：2005-06-14

申请人： Axel Gern ,  Uwe Franke ,  Carsten Knoeppel

发明人： Axel Gern ,  Uwe Franke ,  Carsten Knoeppel

IPC分类号： B60W30/10 ,  B60W40/06 ,  G01C21/26

CPC分类号： B60W40/06 ,  B60W2550/402

摘要： The present invention relates to a method for estimating the course of a lane of a motor vehicle, where the course of the lane is detected by detecting the trajectory of a vehicle traveling in front in the lane, where the detected course of the trajectory subjected to filtering in order to obtain the actual course of the trajectory, where the course of the trajectory is evaluated by means of at least two different filters, where movements of the vehicle in the lateral direction in the lane are filtered on the basis of the output of a filter, and where movements of the vehicle which correspond to a lane change are detected on the basis of the output of a further filter.

摘要翻译： 本发明涉及一种用于估计机动车辆的车道行驶方法，其中通过检测行驶在车道前方的车辆的轨迹来检测行车道的过程，其中所检测到的轨迹经过 过滤以获得轨迹的实际过程，其中通过至少两个不同的过滤器来评估轨迹的过程，其中车辆在车道中的横向方向上的运动基于输出 滤波器，并且其中基于另一滤波器的输出检测与车道变化相对应的车辆的移动。

公开(公告)号：US06539760B1

公开(公告)日：2003-04-01

申请号：US09652705

申请日：2000-08-31

申请人： Helmut Letzel ,  Uwe Franke

发明人： Helmut Letzel ,  Uwe Franke

IPC分类号： E05B4700

CPC分类号： F16P3/08 ,  E05B17/22 ,  E05B2047/0069 ,  H03K2217/958 ,  Y10T70/7057 ,  Y10T70/7068

摘要： A monitoring device for a protected area of a machinery installation, the area being accessible through at least one access opening which can be closed off by an element, such as a door, shutter, or the like, which is movable between an open position and a closed position. The monitoring device being arranged adjacent to the movable element and comprising a safety switch having a housing, an evaluation device, a movable element positionable between a closed and an open position, a coded release mechanism located on the movable element, and a read head for reading the coded release mechanism when the movable element is in the closed position. The safety switch being further provided with an actuator bearing a release mechanism, and which, in a locking position in the housing, locks the movable element in its closed position. The housing having a receiving space for the actuator such that the release mechanism is located adjacent to the read head when the actuator is in the locking position in the housing. The actuator being movable in relation to the movable element by coupling to a handle provided on the movable element.

摘要翻译： 一种用于机械设备的保护区域的监视装置，该区域可通过至少一个进入开口进入，该入口可由诸如门，快门等的元件封闭，该元件可在打开位置和打开位置之间移动， 关闭位置 所述监视装置被布置成与所述可移动元件相邻并且包括安全开关，所述安全开关具有壳体，评估装置，可定位在闭合位置和打开位置之间的可移动元件，位于所述可移动元件上的编码释放机构和用于 当可移动元件处于关闭位置时读取编码的释放机构。 安全开关还设置有具有释放机构的致动器，并且在壳体中的锁定位置中将可动元件锁定在其关闭位置。 壳体具有用于致动器的接收空间，使得当致动器处于壳体中的锁定位置时，释放机构位于与读取头相邻的位置。 致动器可通过联接到设置在可移动元件上的把手相对于可移动元件移动。

公开(公告)号：US20110311108A1

公开(公告)日：2011-12-22

申请号：US13201241

申请日：2010-02-04

申请人： Hernan Badino ,  Uwe Franke

发明人： Hernan Badino ,  Uwe Franke

IPC分类号： G06K9/00

CPC分类号： G06K9/00805

摘要： A method for detecting objects, wherein two images of a surrounding (1) are taken and a disparity image is determined by means of stereo image processing, wherein a depth map of the surrounding (1) is determined from the determined disparities, wherein a free space delimiting line (2) is identified, delimiting an unobstructed region of the surrounding (1), wherein outside and along the free space delimiting line (1) the depth card is segmented by segments (3) of a suitable width formed by pixels of the same or similar distance to an image plane, wherein a height of each segment (3) is estimated as part of an object (4.1 to 4.6) located outside of the unobstructed region in a way, such that each segment (3) is characterized by the two-dimensional position of the base (for example the distance and angle to the longitudinal axis of the vehicle) and the height thereof.

摘要翻译： 一种用于检测物体的方法，其中拍摄周围（1）的两个图像，并且通过立体图像处理来确定视差图像，其中根据确定的差异确定周围（1）的深度图，其中， 空间限定线（2）被识别，限定周围（1）的无障碍区域，其中在自由空间限定线（1）的外部和沿着自由空间限定线（1），深度卡由具有适当宽度的段（3） 与图像平面相同或相似的距离，其中每个段（3）的高度被估计为位于无障碍区域外侧​​的对象（4.1至4.6）的一部分，使得每个段（3）被表征 通过基座的二维位置（例如，与车辆的纵向轴线的距离和角度）及其高度。

公开(公告)号：US20070188312A1

公开(公告)日：2007-08-16

申请号：US10586502

申请日：2005-03-21

申请人： Edgar Bihler ,  Ingo Dudeck ,  Uwe Franke ,  Axel Gern ,  Reinhard Janssen ,  Carsten Knoeppel ,  Frank-Werner Mohn ,  Rainer Moebus ,  Volker Oltmann ,  Uwe Regensburger ,  Helmut Schittenhelm ,  Reinhold Schoeb ,  Avshalom Suissa ,  Bernd Woltermann ,  Zoltan Zomotor

发明人： Edgar Bihler ,  Ingo Dudeck ,  Uwe Franke ,  Axel Gern ,  Reinhard Janssen ,  Carsten Knoeppel ,  Frank-Werner Mohn ,  Rainer Moebus ,  Volker Oltmann ,  Uwe Regensburger ,  Helmut Schittenhelm ,  Reinhold Schoeb ,  Avshalom Suissa ,  Bernd Woltermann ,  Zoltan Zomotor

IPC分类号： B60Q1/00 ,  E05F15/00

CPC分类号： E05B77/12 ,  B60Q9/008 ,  B60R21/0134 ,  E05C17/006

摘要： The opening of vehicle doors often leads to collisions with stationary obstacles that are not visible to the occupants or with moving obstacles that approach the vehicle without being noticed. Thus to avoid collisions when vehicle doors are opened, the aim of the invention is to take any modifications to the environmental situation of the vehicle as a result of a movement of the vehicle and the detected objects into consideration. This allows a collision of the vehicle doors with the objects to be reliably avoided. To achieve this, in a first step the portable trajectory of a vehicle is determnined. In an additional step, the objects in the vicinity of the vehicle are detected and probable trajectories of said detected objects are determined. Respective probability ranges are then defined both for the vehicle and the pivoting zone of the vehicle doors and for the detected objects. The probability ranges of the pivoting zones of the vehicle doors are respectively compared with the individual probability ranges of the objects, in order to determine whether they overlap. If an overlap is identified, a response; signal that indicates the risk of a collision is generated.

摘要翻译： 车门的打开通常导致与固定的障碍物的碰撞，对于乘客而言，或者在没有被注意到的情况下接近车辆的移动障碍物是不可见的。 因此，为了避免车门打开时的碰撞，本发明的目的是考虑到车辆和检测对象的移动，对车辆的环境状况进行任何修改。 这允许车门与要被可靠地避免的物体碰撞。 为了实现这一点，在第一步中确定车辆的便携式轨迹。 在附加步骤中，检测车辆附近的物体，并且确定所检测物体的可能的轨迹。 然后，对于车辆门和车门的枢转区域以及检测到的对象，都定义了各自的概率范围。 将车门的枢转区域的概率范围分别与对象的单个概率范围进行比较，以便确定它们是否重叠。 如果确定重叠，则应答; 产生指示碰撞风险的信号。