[go: up one dir, main page]

WO1999009738A1 - Camera assembly for exposures and method for image evaluation - Google Patents

Camera assembly for exposures and method for image evaluation Download PDF

Info

Publication number
WO1999009738A1
WO1999009738A1 PCT/DE1998/002414 DE9802414W WO9909738A1 WO 1999009738 A1 WO1999009738 A1 WO 1999009738A1 DE 9802414 W DE9802414 W DE 9802414W WO 9909738 A1 WO9909738 A1 WO 9909738A1
Authority
WO
WIPO (PCT)
Prior art keywords
images
camera
cmos image
image sensors
cameras
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DE1998/002414
Other languages
German (de)
French (fr)
Inventor
Bernd Hürtgen
Werner Pöchmüller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SIGNALBAU HUBER AG
Robert Bosch GmbH
Original Assignee
SIGNALBAU HUBER AG
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SIGNALBAU HUBER AG, Robert Bosch GmbH filed Critical SIGNALBAU HUBER AG
Priority to JP2000510274A priority Critical patent/JP2001516183A/en
Priority to EP98949915A priority patent/EP1004199A1/en
Publication of WO1999009738A1 publication Critical patent/WO1999009738A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
    • H04N13/221—Image signal generators using stereoscopic image cameras using a single 2D image sensor using the relative movement between cameras and objects

Definitions

  • the invention is based on a camera structure for recording and a method for evaluating images according to the category of the independent claims.
  • the automatic image evaluation is conquering new application fields and larger market shares in classic application fields for image processing systems at high speed.
  • the reasons for this are on the one hand the increasing maturity of algorithms for automatic image interpretation in natural environments, and on the other hand the increasing computing power of microprocessors.
  • DE 1 96 27 938 which has not yet been published, discloses the use of a camera system for video-based tracking.
  • CCD image sensors are used for image acquisition. These have a very low brightness dynamic range. In natural and many artificial environments, it is therefore necessary to use a camera aperture and an exposure time control in order to map the ambient brightness as well as possible to the dynamic range of the sensor used.
  • the camera structure according to the invention with the characterizing features of the main claim has the advantage that, when using logarithmic CMOS image sensors, an aperture control or exposure time control can be completely dispensed with. If several cameras that have such a sensor record a scene synchronized, the resulting image signals represent an absolute brightness signal that is not influenced by any aperture or exposure time control. The image signals of different cameras are therefore absolutely comparable and do not require any brightness correction, even if the images cut out different areas of a scene, so that an image-based control would set these sections differently in conventional cameras.
  • CMOS image sensor it is also advantageous to use a logarithmic CMOS image sensor in a moving camera if the camera is used to measure the movement of image sequences. If the camera moves, conventional cameras can
  • Cameras change the aperture or exposure time because the image content changes when moving.
  • the camera control can be omitted. Pictures taken at different times are absolutely comparable.
  • CMOS image sensors also have the advantage that additional elements for further processing of the image data such as A / D converters can be implemented on the same component.
  • the CMOS image sensors then have digital outputs. No analog circuit parts are necessary.
  • CMOS image sensors have no CCD-typical image impairments such as smear and fade effects (smear and blooming).
  • the method according to the invention for evaluating images with the characterizing features of the independent claim has the advantage that, by using CMOS image sensors, images can be recorded in a simple manner, which are then used for the three-dimensional evaluation of the recorded scene and for the determination of data serve.
  • FIG. 1 shows a camera setup with two cameras and
  • FIG. 2 shows a camera setup with a flexible camera position.
  • FIG. 1 shows two cameras 1, each of which overlooks an image section 6.
  • the cameras 1 are connected to the evaluation unit 4 via control lines 2.
  • the cameras are connected to one another and also to the evaluation unit 4 via the synchronization lines 3.
  • An object to be observed is in the overlapping field of view of the cameras.
  • Such a camera structure or device can be supplemented by further cameras 1.
  • the camera structure is used to observe any object 5 in the area surrounding the camera structure.
  • the cameras each take a picture of the surroundings, with the picture taken via the synchronization line device is synchronized.
  • the captured image is sent via control line 2 to evaluation unit 4.
  • the processing of the images or the partial images takes place in the evaluation unit with the aim of determining the position, size, etc. of the object 5 in the environment.
  • Logarithmic CMOS image sensors are used to record the images from the cameras.
  • the comparison of the images can take place directly between two images as well as between images that have been processed on the basis of an evaluation algorithm.
  • the CMOS image sensor Due to the logarithmic mapping of the incident light signal into an electronically processable voltage or current signal, the sensor can cover a very large brightness dynamic range, so that it can do without exposure or aperture control or regulation even in a natural environment.
  • the voltage or current signal generated by the CMOS image sensor is forwarded directly to the evaluation unit via a digital interface.
  • Vehicle e.g. for dynamic lane tracking, automatic obstacle detection, level control, etc.
  • Figure 2 shows an embodiment in which the camera 1 is moved to record the scene. Arrow 7 indicates a possible movement.
  • the camera 1 is connected to the evaluation unit 4 via a control line 2.
  • the object 5 to be recorded is in the field of view 6 of the camera.
  • the camera first records a first image in a first recording position, is moved into a second position and takes a second image in this second position. By moving the camera and recording the object from different recording positions, it is possible to determine three-dimensional parameters of the object 5 again.
  • the CMOS image sensors which are a non-linear wall Having characteristic curve and a decreasing characteristic curve with increasing light intensity (brightness), it is possible to directly compare images that were recorded in succession.
  • the image sensor can be designed with a logarithmic characteristic.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)
  • Transforming Light Signals Into Electric Signals (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

The invention relates to a device for exposures and to a method for image evaluation, wherein the construction of at least one camera is simplified by using non-linear, preferably logarithmic, CMOS image sensors.

Description

Kameraaufbau zur Aufnahme und Verfahren zur Auswertung von BildernCamera setup for recording and process for evaluating images

Stand der TechnikState of the art

Die Erfindung geht aus von einem Kameraaufbau zur Aufnahme und einem Verfahren zur Auswertung von Bildern nach der Gattung der unabhängigen Ansprüche. Die automatische Bildaus- wertung erobert mit großer Geschwindigkeit neue Anwendungs- felder und größere Marktanteile in klassischen Anwendungsfeldern für Bildverarbeitungssysteme. Ursache sind zum einen die zunehmende Reife von Algorithmen für die automatische Bildinterpretation in natürlichen Umgebungen, zum anderen die zunehmende Rechenleistung von Mikroprozessoren. Aus der noch nicht veröffentlichten DE 1 96 27 938 ist der Einsatz eines Kamerasystems zur videobasierten Spurverfolgung bekannt. Hierfür werden CCD-Bildsensoren für die Bildaufnahme eingesetzt. Diese weisen einen sehr geringen Helligkeitsdy- namikbereich auf. In natürlichen und vielen künstlichen Umgebungen ist daher der Einsatz einer Kamerablende und einer Belichtungszeitsteuerung nötig, um die Umgebungshelligkeit möglichst gut auf den Dynamikbereich des eingesetzten Sensors abzubilden. Für eine optimale automatische Auswertung von Bildinformationen besitzen Kameras, in denen große zeitliche Helligkeitsänderungen vorkommen können, daher eine Belichtungszeitregelung oder eine Blendenregelung. Die Regelung erfolgt in Abhängigkeit des Bildsignals. Werden mehrere Kameras synchron mit dem Ziel der automatischen Bildauswer- tung betrieben kann die automatische Kameraregelung zu gro- ßen Problemen führen, da Bilder durch die von Kamera zu Kamera verschiedene Kamerablenden- oder Belichtungszeiteinstellungen nicht vergleichbar sind.The invention is based on a camera structure for recording and a method for evaluating images according to the category of the independent claims. The automatic image evaluation is conquering new application fields and larger market shares in classic application fields for image processing systems at high speed. The reasons for this are on the one hand the increasing maturity of algorithms for automatic image interpretation in natural environments, and on the other hand the increasing computing power of microprocessors. DE 1 96 27 938, which has not yet been published, discloses the use of a camera system for video-based tracking. For this purpose, CCD image sensors are used for image acquisition. These have a very low brightness dynamic range. In natural and many artificial environments, it is therefore necessary to use a camera aperture and an exposure time control in order to map the ambient brightness as well as possible to the dynamic range of the sensor used. For optimal automatic evaluation of image information, cameras in which there may be large changes in brightness over time have an exposure time control or an aperture control. The regulation depends on the image signal. If several cameras are operated synchronously with the aim of automatic image evaluation, the automatic camera control can be too large. problems because images cannot be compared due to the different camera aperture or exposure time settings.

Vorteile der ErfindungAdvantages of the invention

Der erfindungsgemäße Kameraaufbau mit den kennzeichnenden Merkmalen des Hauptanspruchs hat demgegenüber den Vorteil, daß bei Einsatz von logarithmierenden CMOS-Bildsensoren auf eine Blendenregelung oder Belichtungszeitregelung vollkommen verzichtet werden kann. Nehmen mehrere Kameras, die einen solchen Sensor besitzen, synchronisiert eine Szene auf, so stellen die resultierenden Bildsignale ein absolutes Helligkeitssignal dar, das durch keine Blenden- oder Belichtungs- zeit-Steuerung beeinflußt ist. Daher sind die Bildsignale verschiedener Kameras absolut vergleichbar und bedürfen keiner Helligkeitskorrektur, auch wenn die Bilder verschiedene Bereiche einer Szene ausschneiden, so daß eine bildbasierte Regelung bei herkömmlichen Kameras diese Ausschnitte ver- schieden einstellen würde.The camera structure according to the invention with the characterizing features of the main claim has the advantage that, when using logarithmic CMOS image sensors, an aperture control or exposure time control can be completely dispensed with. If several cameras that have such a sensor record a scene synchronized, the resulting image signals represent an absolute brightness signal that is not influenced by any aperture or exposure time control. The image signals of different cameras are therefore absolutely comparable and do not require any brightness correction, even if the images cut out different areas of a scene, so that an image-based control would set these sections differently in conventional cameras.

Ebenso vorteilhaft ist der Einsatz eines logarithmierenden CMOS-Bildsensors in einer bewegten Kamera, wenn die Kamera zur Messung von Bewegung von Bildsequenzen herangezogen wird. Bewegt sich die Kamera, so kann bei konventionellenIt is also advantageous to use a logarithmic CMOS image sensor in a moving camera if the camera is used to measure the movement of image sequences. If the camera moves, conventional cameras can

Kameras eine Blenden- oder Belichtungszeitänderung erfolgen, da sich der Bildinhalt bei der Bewegung ändert. Durch Einsatz des logarithmierenden Bildsensors kann die Kameraregelung entfallen. Bilder, die zu unterschiedlichen Zeiten auf- genommen wurden, sind absolut vergleichbar.Cameras change the aperture or exposure time because the image content changes when moving. By using the logarithmic image sensor, the camera control can be omitted. Pictures taken at different times are absolutely comparable.

CMOS-Bildsensoren haben weiterhin den Vorteil, daß zusätzliche Elemente für die weitere Verarbeitung der Bilddaten wie A/D-Wandler auf dem gleichen Bauteil realisiert werden kön- nen. Die CMOS-Bildsensoren besitzen dann digitale Ausgänge. Es sind keine analogen Schaltungsteile nötig. Weiterhin weisen CMOS-Bildsensoren keine CCD-typischen Bildbeeinträchtigungen wie Verschmierungs- und Überblendeffekte (smear und blooming) .CMOS image sensors also have the advantage that additional elements for further processing of the image data such as A / D converters can be implemented on the same component. The CMOS image sensors then have digital outputs. No analog circuit parts are necessary. Furthermore, CMOS image sensors have no CCD-typical image impairments such as smear and fade effects (smear and blooming).

Das erfindungsgemäße Verfahren zur Auswertung von Bildern mit den kennzeichnenden Merkmalen des unabhängigen Anspruchs hat den Vorteil, daß durch den Einsatz von CMOS-Bildsensoren auf einfache Weise Bilder aufgenommen werden können, die an- schließend für die dreidimensionale Auswertung der aufgenommenen Szene und zur Ermittlung von Daten dienen.The method according to the invention for evaluating images with the characterizing features of the independent claim has the advantage that, by using CMOS image sensors, images can be recorded in a simple manner, which are then used for the three-dimensional evaluation of the recorded scene and for the determination of data serve.

Zeichnungendrawings

Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und in der nachfolgenden Beschreibung näher erläutert. Es zeigt Figur 1 einen Kameraaufbau mit zwei Kameras und Figur 2 einen Kameraaufbau mit flexibler Kameraposition.Embodiments of the invention are shown in the drawing and explained in more detail in the following description. FIG. 1 shows a camera setup with two cameras and FIG. 2 shows a camera setup with a flexible camera position.

Beschreibung des AusführungsbeispielsDescription of the embodiment

Figur 1 zeigt zwei Kameras 1, die jeweils einen Bildausschnitt 6 überblicken. Die Kameras 1 sind über Steuerleitun- gen 2 mit der Auswerteeinheit 4 verbunden. Über die Synchronisationsleitungen 3 sind die Kameras untereinander und ebenfalls mit der Auswerteeinheit 4 verbunden. Ein zu beobachtendes Objekt befindet sich im überlappenden Blickfeld der Kameras .FIG. 1 shows two cameras 1, each of which overlooks an image section 6. The cameras 1 are connected to the evaluation unit 4 via control lines 2. The cameras are connected to one another and also to the evaluation unit 4 via the synchronization lines 3. An object to be observed is in the overlapping field of view of the cameras.

Ein solcher Kameraaufbau bzw. Vorrichtung kann noch durch weitere Kameras 1 ergänzt werden. Der Kameraaufbau dient zur Beobachtung eines beliebigen Objekts 5 im Umfeld des Kameraaufbaus. Die Kameras nehmen jeweils ein Bild der Umge- bung auf, wobei die Aufnahme über die Synchronisationslei- tung synchronisiert wird. Das aufgenommene Bild wird über die Steuerleitung 2 zur Auswerteeinheit 4 gesendet . In der Auswerteeinheit erfolgt die Aufbereitung der Bilder oder der Teilbilder, mit dem Ziel die Lage, Größe usw. des Objekts 5 in der Umgebung festzustellen. Zur Aufnahme der Bilder der Kameras werden logarithmierende CMOS-Bildsensoren eingesetzt. Der Vergleich der Bilder kann sowohl direkt zwischen zwei Bildern als auch zwischen Bildern, die aufgrund eines Auswertealgorithmus aufbereitet wurden, erfolgen. Durch die logarithmische Abbildung des einfallenden Lichtsignals in ein elektronisch verarbeitbares Spannungs- oder Stromsignal kann der Sensor einen sehr großen Helligkeitsdynamikbereich abdecken, so daß er auch in natürlicher Umgebung ohne Belichtung oder Blendensteuerung bzw. -regelung auskommt. Das vom CMOS-Bildsensor erzeugte Spannungs- oder Stromsignal wird über eine digitale Schnittstelle direkt an die Auswerteeinheit weitergeleitet. Durch die Analyse der Bilder mit dem erfindungsgemäßen Kameraaufbau ist es möglich, verschiedene dreidimensionale Größen zu bestimmen. Beispielsweise dienen solche Kamerasystme zur Analyse der Umgebung einesSuch a camera structure or device can be supplemented by further cameras 1. The camera structure is used to observe any object 5 in the area surrounding the camera structure. The cameras each take a picture of the surroundings, with the picture taken via the synchronization line device is synchronized. The captured image is sent via control line 2 to evaluation unit 4. The processing of the images or the partial images takes place in the evaluation unit with the aim of determining the position, size, etc. of the object 5 in the environment. Logarithmic CMOS image sensors are used to record the images from the cameras. The comparison of the images can take place directly between two images as well as between images that have been processed on the basis of an evaluation algorithm. Due to the logarithmic mapping of the incident light signal into an electronically processable voltage or current signal, the sensor can cover a very large brightness dynamic range, so that it can do without exposure or aperture control or regulation even in a natural environment. The voltage or current signal generated by the CMOS image sensor is forwarded directly to the evaluation unit via a digital interface. By analyzing the images with the camera structure according to the invention, it is possible to determine different three-dimensional sizes. For example, such camera systems are used to analyze the environment of a

Fahrzeugs, z.B. zur dynamischen Spurverfolgung, zur automatischen Hinderniserkennung, zur Niveauregulierung usw.Vehicle, e.g. for dynamic lane tracking, automatic obstacle detection, level control, etc.

Figur 2 zeigt eine Ausfuhrungsform, bei der die Kamera 1 zur Szenenaufnahme bewegt wird. Pfeil 7 zeigt eine mögliche Bewegung an. Die Kamera 1 ist über eine Steuerleitung 2 mit der Auswerteeinheit 4 verbunden. Im Blickfeld 6 der Kamera befindet sich das aufzunehmende Objekt 5. Die Kamera nimmt zunächst ein erstes Bild in einer ersten Aufnahmeposition auf, wird in eine zweite Position bewegt und nimmt in dieser zweiten Position ein zweites Bild auf. Durch die Bewegung der Kamera und die Aufnahme des Objekts aus verschiedenen Aufnahmepositionen heraus, ist es möglich, wiederum dreidimensionale Parameter des Objekts 5 zu ermitteln. Durch den Einsatz der CMOS-Bildsensoren, die eine nichtlineare Wand- lerkennlinie aufweisen und eine abnehmende Kennliniensteie- rung bei zunehmender Lichtintensität (Helligkeit) bildet, ist es möglich, Bilder, die zeitlich aufeinanderfolgend aufgenommen wurden, direkt miteinander zu vergleichen. In weiterer Ausgestaltung der Erfindung kann der Bildsensor mit einer logarithmierenden Kennlinie ausgebildet sein. Figure 2 shows an embodiment in which the camera 1 is moved to record the scene. Arrow 7 indicates a possible movement. The camera 1 is connected to the evaluation unit 4 via a control line 2. The object 5 to be recorded is in the field of view 6 of the camera. The camera first records a first image in a first recording position, is moved into a second position and takes a second image in this second position. By moving the camera and recording the object from different recording positions, it is possible to determine three-dimensional parameters of the object 5 again. By using the CMOS image sensors, which are a non-linear wall Having characteristic curve and a decreasing characteristic curve with increasing light intensity (brightness), it is possible to directly compare images that were recorded in succession. In a further embodiment of the invention, the image sensor can be designed with a logarithmic characteristic.

Claims

Ansprüche Expectations 1. Vorrichtung zur Aufnahme von vergleichbaren Bildern, bestehend aus mindestens zwei Kameras (1) , die über Steuerleitungen (2) mit einer Steuer- und Auswerteeinrichtung (4) verbunden sind und über eine Synchronisationsleitung (3) aufeinander synchronisiert sind, dadurch gekennzeichnet, daß die Kameras CMOS-Bildsensoren enthalten, wobei die Bildsensoren eine nicht lineare Wandelkennlinie aufweisen, gekennzeichnet durch abnehmende Kennliniensteigung bei zunehmender Lichtintensität .1. Device for recording comparable images, consisting of at least two cameras (1), which are connected via control lines (2) to a control and evaluation device (4) and are synchronized with one another via a synchronization line (3), characterized in that the cameras contain CMOS image sensors, the image sensors having a non-linear change characteristic, characterized by a decreasing characteristic curve gradient with increasing light intensity. 2. Vorrichtung zur Aufnahme von vergleichbaren Bildern, bestehend aus einer Kamera (1) , die über eine Steuerleitung (2) mit einer Steuer- und Auswerteeinrichtung (4) verbunden ist und die bewegbar bezüglich des aufzunehmenden Umfelds in mindestens zwei Aufnahmepositionen anbringbar ist, dadurch gekennzeichnet, daß die Kamera (1) einen logarithmierenden CMOS-Bildsensor enthält, wobei die Bildsensoren eine nichtlineare Wandelkennlinie aufweisen, gekennzeichnet durch abnehmende Kennliniensteigung bei zunehmender Lichtintensität.2. Device for recording comparable images, consisting of a camera (1), which is connected via a control line (2) to a control and evaluation device (4) and which is movably attachable with respect to the environment to be recorded in at least two recording positions characterized in that the camera (1) contains a logarithmic CMOS image sensor, the image sensors having a non-linear change characteristic, characterized by a decreasing characteristic curve gradient with increasing light intensity. 3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß Daten der Bilder und/oder Teilbilder der mindestens einen Kamera (1) über eine digitale Schnittstelle des CMOS- Bildsensors zur Auswerteinheit gelangen. 3. Apparatus according to claim 1 or 2, characterized in that data of the images and / or partial images of the at least one camera (1) reach the evaluation unit via a digital interface of the CMOS image sensor. 4. Verfahren zur Auswertung von Bildern, dadurch gekennzeichnet, daß die Bilder von mindestens einer Kamera (1) mit einem CMOS-Bildsensor aufgenommen werden, wobei die Bildsen- soren eine nichtlineare Wändelkennlinie aufweisen, gekennzeichnet durch abnehmende Kennliniensteigung bei zunehmender Lichtintensität und daß die Daten der Bilder an eine Auswerteinheit (4) übertragen werden, die aus den Bildern und/oder Teilbildern Informationen über die aufgenommene Szene ermit- telt.4. A method for evaluating images, characterized in that the images are recorded by at least one camera (1) with a CMOS image sensor, the image sensors having a nonlinear change characteristic, characterized by a decreasing characteristic curve gradient with increasing light intensity and that the data the images are transmitted to an evaluation unit (4) which determines information about the recorded scene from the images and / or partial images. 5. Verfahren zur Auswertung von Bildern nach Anspruch 4, dadurch gekennzeichnet, daß die ermittelten Informationen dreidimensionale Meßgrößen der Szene sind.5. A method for evaluating images according to claim 4, characterized in that the information obtained is three-dimensional measured variables of the scene. 6. Verfahren zur Auswertung von Bildern nach einem der Ansprüche 4 oder 5, dadurch gekennzeichnet, daß die mindestens eine Kamera (1) in einem Kraftfahrzeug eingebaut wird. 6. A method for evaluating images according to one of claims 4 or 5, characterized in that the at least one camera (1) is installed in a motor vehicle.
PCT/DE1998/002414 1997-08-20 1998-08-19 Camera assembly for exposures and method for image evaluation Ceased WO1999009738A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2000510274A JP2001516183A (en) 1997-08-20 1998-08-19 Multiple exposure camera device and image evaluation method
EP98949915A EP1004199A1 (en) 1997-08-20 1998-08-19 Camera assembly for exposures and method for image evaluation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19736051.3 1997-08-20
DE19736051A DE19736051A1 (en) 1997-08-20 1997-08-20 Stereoscopic image recording device

Publications (1)

Publication Number Publication Date
WO1999009738A1 true WO1999009738A1 (en) 1999-02-25

Family

ID=7839510

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1998/002414 Ceased WO1999009738A1 (en) 1997-08-20 1998-08-19 Camera assembly for exposures and method for image evaluation

Country Status (4)

Country Link
EP (1) EP1004199A1 (en)
JP (1) JP2001516183A (en)
DE (1) DE19736051A1 (en)
WO (1) WO1999009738A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003501917A (en) * 1999-06-04 2003-01-14 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング Method and apparatus for visualizing the course of a vehicle

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10103255B4 (en) * 2001-01-25 2004-12-30 Robert Bosch Gmbh Procedure for the automatic assessment of laser processing processes

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3632878A1 (en) * 1986-09-26 1988-03-31 Siemens Ag DEVICE FOR POSITIONING THE HEAD OF A PATIENT FOR MAKING AN X-RAY IMAGE
EP0739039A2 (en) * 1995-04-18 1996-10-23 Interuniversitair Micro-Elektronica Centrum Vzw Pixel structure, image sensor using such pixel, structure and corresponding peripheric circuitry
US5650944A (en) * 1993-03-24 1997-07-22 Fuji Jukogyo Kabushiki Kaisha Shutter speed control method and system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3632878A1 (en) * 1986-09-26 1988-03-31 Siemens Ag DEVICE FOR POSITIONING THE HEAD OF A PATIENT FOR MAKING AN X-RAY IMAGE
US5650944A (en) * 1993-03-24 1997-07-22 Fuji Jukogyo Kabushiki Kaisha Shutter speed control method and system
EP0739039A2 (en) * 1995-04-18 1996-10-23 Interuniversitair Micro-Elektronica Centrum Vzw Pixel structure, image sensor using such pixel, structure and corresponding peripheric circuitry

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
MENDIS S ET AL: "CMOS ACTIVE PIXEL IMAGE SENSOR", IEEE TRANSACTIONS ON ELECTRON DEVICES, vol. 41, no. 3, March 1994 (1994-03-01), pages 452/453, XP002074480 *
RICQUIER N ET AL: "RANDOM ADDRESSABLE CMOS IMAGE SENSOR FOR INDUSTRIAL APPLICATIONS", SENSORS AND ACTUATORS A, vol. A44, no. 1, July 1994 (1994-07-01), pages 29 - 35, XP000469151 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003501917A (en) * 1999-06-04 2003-01-14 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング Method and apparatus for visualizing the course of a vehicle

Also Published As

Publication number Publication date
JP2001516183A (en) 2001-09-25
EP1004199A1 (en) 2000-05-31
DE19736051A1 (en) 1999-02-25

Similar Documents

Publication Publication Date Title
DE69111377T2 (en) CAMERA WITH OBJECT LIFTING AND MOTION DETECTION.
DE60037360T2 (en) Method and device for measuring the speed of vehicles with an image processing system
DE69328614T2 (en) DETERMINING THE POSITION AND MOVEMENT OF A STUDIO CAMERA USING THE CAMERA IMAGES
DE69934068T2 (en) DETERMINATION OF THE POSITION OF EYES BY LIGHT REFLEX DETECTION AND CORRECTION OF DEFECTS IN A RECORDED IMAGE
DE102007026337B4 (en) Digital camera
DE102010062496B4 (en) Method and device for processing image information from two sensors of a stereo sensor system suitable for image acquisition
DE4329839A1 (en) Imaging arrangement with two sensors - contains four colour complementary light sensitive elements in each sensor in 2 by 2 matrix.
EP3136711A1 (en) Method for generating and evaluating an image
DE19882912B4 (en) Image selection based on the image content
DE102008043737A1 (en) Method for detecting raindrops on disk, involves recording measured image in plane of disk and reference image is recorded in plane deviating from plane of disk
WO2002006851A1 (en) Method for determining visibility
DE102016216795A1 (en) Method for determining result image data
DE69617730T2 (en) AMRC TEST
DE19536691B4 (en) Method and device for correcting image frame errors in television filming
DE19701484A1 (en) Process for controlling the exposure of video cameras
DE10049366A1 (en) Security area monitoring method involves using two image detection units whose coverage areas overlap establishing monitored security area
WO1999009738A1 (en) Camera assembly for exposures and method for image evaluation
EP0124537A1 (en) Method for the surveyance of an object space.
DE102006055905A1 (en) Surrounding field detection method for motor vehicle, involves processing luminance measured values using predetermined type of pixel sensors, based on surrounding light and/or detected traffic situation
DE102019213523A1 (en) Method and preprocessing device for preprocessing raw camera data from an image sensor of a camera
WO2006072236A1 (en) Method for processing film images extracted from a film recording beam path of a moving image camera
DE4128039C2 (en) Arrangement for recording precipitation
DE102022116317A1 (en) Method for detecting contamination on a camera of a vehicle, camera and driver assistance system
EP1002423B1 (en) Method and device for detecting a change between pixel signals which chronologically follow one another
DE102009017135A1 (en) Method for video data analysis of image sequence for controlling e.g. vehicles, involves detecting optical flow as assumed value-less flow vectors for image points that are not detected in background stabilized images

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): JP US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 1998949915

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 1998949915

Country of ref document: EP

WWW Wipo information: withdrawn in national office

Ref document number: 1998949915

Country of ref document: EP