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WO1999009738A1 - Conception de camera destinee a la prise d'images et procede d'evaluation d'images - Google Patents

Conception de camera destinee a la prise d'images et procede d'evaluation d'images Download PDF

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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)
English (en)
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/ja
Priority to EP98949915A priority patent/EP1004199A1/fr
Publication of WO1999009738A1 publication Critical patent/WO1999009738A1/fr
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

Dispositif de prise d'images ainsi que procédé d'évaluation d'images. Selon la présente invention, au moins une caméra possède une conception simplifiée grâce à l'utilisation de capteurs d'images CMOS non linéaires et de préférence à recherche du logarithme.
PCT/DE1998/002414 1997-08-20 1998-08-19 Conception de camera destinee a la prise d'images et procede d'evaluation d'images Ceased WO1999009738A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2000510274A JP2001516183A (ja) 1997-08-20 1998-08-19 複数露出カメラ装置、及び画像評価方法
EP98949915A EP1004199A1 (fr) 1997-08-20 1998-08-19 Conception de camera destinee a la prise d'images et procede d'evaluation d'images

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19736051.3 1997-08-20
DE19736051A DE19736051A1 (de) 1997-08-20 1997-08-20 Kameraaufbau zur Aufnahme und Verfahren zur Auswertung von Bildern

Publications (1)

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

Family

ID=7839510

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1998/002414 Ceased WO1999009738A1 (fr) 1997-08-20 1998-08-19 Conception de camera destinee a la prise d'images et procede d'evaluation d'images

Country Status (4)

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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003501917A (ja) * 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 車両の進路を視覚化するための方法および装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10103255B4 (de) * 2001-01-25 2004-12-30 Robert Bosch Gmbh Verfahren zur automatischen Beurteilung von Laserbearbeitungsprozessen

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3632878A1 (de) * 1986-09-26 1988-03-31 Siemens Ag Vorrichtung zur positionierung des kopfes eines patienten zur anfertigung einer roentgenaufnahme
EP0739039A2 (fr) * 1995-04-18 1996-10-23 Interuniversitair Micro-Elektronica Centrum Vzw Structure de pixel, capteur d'image utilisant un tel pixel, structure et circuiterie périphérique correspondante
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 (de) * 1986-09-26 1988-03-31 Siemens Ag Vorrichtung zur positionierung des kopfes eines patienten zur anfertigung einer roentgenaufnahme
US5650944A (en) * 1993-03-24 1997-07-22 Fuji Jukogyo Kabushiki Kaisha Shutter speed control method and system
EP0739039A2 (fr) * 1995-04-18 1996-10-23 Interuniversitair Micro-Elektronica Centrum Vzw Structure de pixel, capteur d'image utilisant un tel pixel, structure et circuiterie périphérique correspondante

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 (ja) * 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 車両の進路を視覚化するための方法および装置

Also Published As

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

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