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1.发明申请METHOD AND DEVICE FOR THE ESTIMATION OF CAR EGOMOTION FROM SURROUND VIEW IMAGES 审中-公开用于从周边视图图像估计汽车的方法和装置
公开(公告)号：WO2016131585A1
公开(公告)日：2016-08-25
申请号：PCT/EP2016/050937
申请日：2016-01-19
Inventor： GUERREIRO, Rui , PANAKOS, Andreas , SILVA, Carlos , YADAV, Dev
CPC classification number: G06T7/251 , G06T3/4038 , G06T7/246 , G06T7/248 , G06T11/003 , G06T2207/30252 , G06T2207/30256 , G06T2219/008
Abstract: A method and device for determining an ego-motion of a vehicle. Respective sequences of consecutive images are obtained from a front view camera, a left side view camera, a right side view camera and a rear view camera and merged. A virtual projection of the images to a ground plane is provided using an affine projection. An optical flow is determined from the sequence of projected images, an ego-motion of the vehicle is determined from the optical flow and the ego-motion is used to predict a kinematic state of the car.
Abstract translation: 一种用于确定车辆自身运动的方法和装置。 从前视摄像机，左侧摄像机，右侧摄像机和后视摄像机获得连续图像的相应序列并合并。 使用仿射投影提供图像到地平面的虚拟投影。 根据投影图像的顺序确定光流，根据光流确定车辆的自身运动，并且使用自我运动来预测汽车的运动状态。
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公开(公告)号：WO2016169790A1
公开(公告)日：2016-10-27
申请号：PCT/EP2016/057746
申请日：2016-04-08
Inventor： GUERREIRO, Rui , PANAKOS, Andreas , SILVA, Carlos , YADAV, Dev
IPC: G06T7/00
CPC classification number: G06T7/80 , G06K9/00791 , G06T2207/30252
Abstract: The application provides a method of calibrating at least two cameras of a vehicle. The vehicle has a reference frame. The method comprises taking an image of a scene by each camera. The ground plane of the vehicle is then determined according to features of the image. An origin point of the vehicle reference frame is later defined as being located on the determined ground plane. A translation of a reference frame of the camera is afterward determined for aligning the camera reference frame with the vehicle reference frame.
Abstract translation: 该应用提供校准车辆的至少两个照相机的方法。 车辆具有参考系。 该方法包括拍摄每个相机的场景图像。 然后根据图像的特征确定车辆的接地平面。 随后将车辆参考系的原点定义为位于确定的接地平面上。 之后确定摄像机的参考帧的平移，以使摄像机参考帧与车辆参考系对准。
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公开(公告)号：WO2016131587A1
公开(公告)日：2016-08-25
申请号：PCT/EP2016/050966
申请日：2016-01-19
Inventor： GUERREIRO, Rui , PANAKOS, Andreas , SILVA, Carlos , YADAV, Dev
CPC classification number: G06T5/006 , G06T7/246 , G06T7/277 , G06T2207/30252
Abstract: A method and a device for image stabilization of an image sequence of one or more cameras of a car are disclosed. Images of the surroundings of a car are recorded and image points of the recorded images are projected to a unit sphere, wherein the projection comprises applying a lens distortion correction. For each of the one or more cameras, a vanishing point is calculated using the projected image points on the unit sphere and a motion of the vanishing point on the unit sphere is tracked. The motion of the vanishing point is used to calculate a corrected projection to a ground plane.
Abstract translation: 公开了一种用于汽车的一个或多个照相机的图像序列的图像稳定化的方法和装置。 记录汽车周围的图像，记录图像的图像点投影到单位球，其中投影包括应用透镜畸变校正。 对于一个或多个相机中的每一个，使用单位球体上的投影图像点来计算消失点，并且跟踪单位球上的消失点的运动。 消失点的运动用于计算到地平面的校正投影。
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