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WO2015149799A1 - Système de caméras stéréo - Google Patents

Système de caméras stéréo Download PDF

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Publication number
WO2015149799A1
WO2015149799A1 PCT/DE2015/200210 DE2015200210W WO2015149799A1 WO 2015149799 A1 WO2015149799 A1 WO 2015149799A1 DE 2015200210 W DE2015200210 W DE 2015200210W WO 2015149799 A1 WO2015149799 A1 WO 2015149799A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
mono
camera
stereo
monocamera
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/DE2015/200210
Other languages
German (de)
English (en)
Inventor
Ralph GREWE
Stefan Hegemann
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.)
Aumovio Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic 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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Publication of WO2015149799A1 publication Critical patent/WO2015149799A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • H04N13/204—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
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/286—Image signal generators having separate monoscopic and stereoscopic modes
    • H04N13/289—Switching between monoscopic and stereoscopic modes
    • 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

Definitions

  • the invention relates to a stereo camera system for a vehicle.
  • Modern vehicles in particular motor vehicles are equipped with driver assistance systems whose sensors are often designed as cameras. With such cameras, it is lent possible to perform on the basis of the acquired image data, a Erken ⁇ drying and classification of objects in the vehicle environment.
  • mono- and Ste ⁇ reoarrasysteme as environmental sensors for Augustassistenzsyste ⁇ me, especially for security systems are known.
  • the disadvantage of a mono camera is that a distance measurement to OBJEK ⁇ th can only be limited.
  • One way a decision ⁇ fernung estimate is based on model assumptions, such as. Ei ⁇ ner average vehicle width.
  • Another possible ⁇ ness to remove estimate provides the so-called method Structure-From-Motion, which attempts to close reference to Be ⁇ movements in the image to the removal of objects and position relative to the mono camera. Therefore, the knowledge of the movement of the camera for this ⁇ Me technique will be required.
  • An improvement of the range estimates is achieved by means of the stereo camera systems typically include two op ⁇ diagram modules that are each composed of a lens and an image sensor, and are integrated in a common housing ⁇ Ge. By finding corresponding points in the images of the two image sensors and using the known baseline (distance between the two image sensors) of triangulation, the distance of the points be ⁇ true may be using.
  • a location determination ⁇ device for a motor vehicle which, inter alia, has a designed as a stereo camera optical Sensorein ⁇ unit.
  • This stereo camera system consists of two monocamera modules which are integrated in the sensor unit as a stereo camera module and are structurally connected via a web.
  • a formed as an image processing module electronic arithmetic unit is connected on the one hand via a data line with the Ste ⁇ reoskimodul and on the other via a data line to a data bus of the vehicle.
  • AI discloses a Stereoka ⁇ merasystem with a first mono camera and a second mono camera for a motor vehicle from DE 10 2004 061 998, in which the two
  • Cameras work together as a stereo camera. Also in this be ⁇ known stereo camera system, the image data of the two mono camera each on signal lines of a processing ⁇ unit are supplied to the processes this image data and displays, for example. Driver assistance functions for a night vision support, a traffic sign recognition and object recognition are available.
  • This stereo camera system for a vehicle includes OF INVENTION ⁇ dung according to:
  • a first monocamera with an optical system, an image sensor and an image evaluation unit, which is designed for image evaluation of the image data generated by the image sensor using a monochrome camera algorithm,
  • a second monocamera having an optical system, an image sensor and an image evaluation unit, which is designed for image evaluation of the image data generated by the image sensor using a monocamera algorithm, and
  • Stereoverbausensemother which is connected to the image sensor of the first mono camera and the image sensor of the second mono camera for transmitting the image data and which is designed to ste ⁇ reoskopischen image evaluation of the image data of the first and second mono camera using a stereo image algo- rithm.
  • Such mono camera algorithms include, for example, the detection of whether ⁇ projects, such as road markings and traffic signs, etc., the model-based detection and tracking of vehicles, and a mono-scene reconstruction for detecting the vehicle surroundings see static.
  • Stereoreausstratician one based on the principle of stereo recording environment is made possible, which can be made highly accurate stereo data for use in driver assistance systems, particularly in security systems available in Nor ⁇ mal réelle the stereo camera system.
  • stereo evaluation is no longer possible, but mono information, which of course is less accurate, is still available for emergency operation to disposal. The reliability is thus increased over known stereo camera systems.
  • Environmental sensors radar and / or lidar sensors
  • de ⁇ sensor signals a defective mono camera can be identified with de ⁇ sensor signals a defective mono camera.
  • the stereo functionality would be dispensed with and instead an emergency operation be maintained using the ver ⁇ lasting mono camera.
  • the Stereomorausense is designed to diagnose the function of the ers ⁇ th and second mono camera using at least one diagnosis program.
  • This allows for the use of a defective identification ⁇ He monocamera the resources of the stereo image evaluation ⁇ to isolate the run to failure of the mono camera error by loading such a diagnostic program from the Stereosometimesausncetician and out ⁇ leads is.
  • the same algo ⁇ rithms can as the mono camera algorithms are executed and are compared with those the results of mono cameras, the example.
  • Algorithms for detecting defective image sensors (imagers) or defective optics of monocameras can also be loaded and executed as diagnostic programs.
  • the first monocamera has a power supply device and the second monocamera has a power supply device. sen.
  • the reliability is increased are for the two mono cameras separate power supplies ⁇ before.
  • sondere with defective vehicle networks for example due to a cable break due to the separate Bussys ⁇ systems for the two mono cameras, the reliability.
  • a committeeas ⁇ sistenzsystem which is connected to the Stereosometimesaustician ⁇ unit via a bus system.
  • a driver assistance system highly automated functions are realized for which high demands are placed on the coverage, the confidence and the accuracy, in particular a high reliability is expected, which can be met with the stereo camera system according to the invention.
  • the ers ⁇ te and second mono camera is connected via a separate low-speed data bus to the driver assistance system for carrying out an emergency operation.
  • a fallback level for the notbe ⁇ drive is realized in which the data of the intact mono camera on such a low-speed data bus, for example.
  • a CAN bus of the driver assistance system are supplied for evaluation.
  • Such emergency operation can optionally be performed with a redu ⁇ ed amount of data so that the image data due to their high frame rate can not be transmitted.
  • only the object data from OBJEK ⁇ th as lane markings, road signs, etc. are transmitted.
  • FIG. 1 shows a block diagram of a stereo camera system according to the invention.
  • the for a vehicle (not shown in Figure 1) vorgese ⁇ hene stereo camera system 1 of the invention according to Figure 1 includes fully three components 2, 3 and 4 which are each formed as a module from ⁇ . These components are a first mono camera 2, a second mono camera 3 and a Stereosometimesausagonist ⁇ unit 4, wherein the first mono camera 2 via a high-speed data bus 5.1 and the second mono camera 2 are connected via a further high-speed data bus 5.2 to the Stereobildausense. 4
  • the evaluation results of the Stereobildauseptmaschinetician 4 ⁇ he testified to be supplied via a data bus a driver assistance system 6, are realized with the highly automated functions.
  • High-speed data bus 5 which is shown in FIG. smiles is shown, which includes the data bus Zvi ⁇ Stereomorausbuztician rule 4 and belongs to the driver assistance system ⁇ . 6
  • These two monocameras 2 and 3 are self-sufficient in their functions as camera and therefore each comprise an optics 2.1 and 3.1, an image sensor (imager) 2.2 and 3.2, a Schmauswer ⁇ teech 2.3 and 3.3 and a data bus interface 2.5 and 3.5. That of the image sensors 2.2 and 3.2 of the environment of
  • Vehicle generated image data are both thessenausagonist ⁇ unit 2.3 or 3.3 and the data bus interface 2.5 or 3.5 supplied.
  • the image data of the monocameras 2 and 3 are evaluated by their image evaluation units 2.3 and 3.3 by means of a monocamera algorithm, and the evaluation result is likewise forwarded to the data bus interface 2.5 or 3.5.
  • High-speed data bus 5.1 or 5 given.
  • Wei ⁇ se and the image data of the image sensor 3.2 of the second mono camera 3 as well as the evaluation result of the Schmaus ⁇ evaluation unit 3.3 via the data bus interface 3.5 on the WEI direct high-speed data bus 5.2 or the common high-speed data bus 5 are given.
  • the stereo image evaluation unit 4 is used for stereoscopic image analysis of the two high-speed data buses 5.1 and 5.2 or over the common high-speed data bus 5 ⁇ supplied image data of the two monocameras 2 and 3 by means of egg ⁇ nes stereo image algorithm. This provides high-precision stereo data using the stereo image algorithm be evaluated.
  • the evaluation results generated by the stereo image evaluation unit 4 are supplied to the driver assistance system 6 via a data bus or via the common high-speed data bus 5, with which highly-automated functions are realized.
  • This essentially three components having on ⁇ construction of the stereo camera system 1 according to the invention is the off ⁇ falling safety significantly increased, because one of the Auswer ⁇ teikien event of a failure of one of the mono cameras 2 or 3, for example. Due to a defective Mic rocontrollers or a defective memory 2.3 or 3.3, no stereo-evaluation is more mög ⁇ lich but are still the mono information intact Mo nostroke 2 or 3 for an emergency operation available.
  • each of the two monocameras 2 and 3 has its own power supply device 2.4 or 3.4, so that this also increases the reliability. Because if one of the two power supply devices 2.4 or 3.4, the other mono camera with the non-defective power supply device ⁇ intact.
  • the two high-speed data buses 5.1 and 5.2 respectively represent separate bus systems for the first and second monocamera 2 and 3 in order to increase the reliability in the event of a defective data bus network of the vehicle, for example due to a cable break.
  • high-speed data buses 5.1 and 5.2 for example, an Ethernet or a Flexray data bus are used.
  • the stereo camera system 1 can be classified as unreliable. If there are present more data sources in the vehicle, eg., A digital map or other cameras (topview) camera or environment sensors (radar and / or lidar sensors) may be a defective Monoka ⁇ ra 2 or 3 are identified with their sensor signals. In such a case, the stereo functionality would be eliminated and instead an emergency operation with the help of the remaining monocamera 2 or 3 maintained.
  • the Stereomorausense 4 may be used for the diagnosis of function ⁇ on the first and second mono camera 2 and 3 using a diagnostics program. This makes possible by such a diagnostic program is loaded from the Stereoscopewer ⁇ teech 4 and performed 4 to use in the detection of a defective mono camera 2 or 3, the Res ⁇ resources of Stereomorauseptome to isolate the failure of the mono camera 2 or 3 out error.
  • a diagnostic Pro ⁇ gram the same algorithms as the Monostroke- algorithms can be run and with which the mono cameras are compared 2 and 3, the results, the example.
  • the first and second Monoka ⁇ ra is executed 2 and 3 respectively as a module, and therefore comprises a housing 2.6 and 3.6.
  • the stereo ⁇ image evaluation unit 4 can be integrated into the housing 2.6 or 3.6 of the first or the second mono camera 2 or the second
  • the stereo camera system according to the invention comprises two functionally independent mono cameras 2 and 3.
  • the Darge ⁇ presented stereo camera system 1 can also be more than two mono ⁇ cameras together with a Stereomanausnce turned ⁇ sets.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Image Analysis (AREA)
  • Studio Devices (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention porte sur un système de caméras stéréo (1) pour un véhicule. Ce système de caméras stéréo (1) selon l'invention comprend une première monocaméra (2) possédant une optique (2.1), un capteur d'images (2.2) et une unité d'évaluation d'images (2.3) qui est conçue pour l'évaluation d'images des données image produites par le capteur d'images (2.2) en utilisant un algorithme de monocaméra, ainsi qu'une seconde monocaméra (3) possédant une optique (3.1), un capteur d'images (3.2) et une unité d'évaluation d'images (3.3) qui est conçue pour l'évaluation des données image produites par le capteur d'images en utilisant un algorithme de monocaméra, et finalement, une unité d'évaluation d'images stéréo (4) qui est reliée au capteur d'images (2.2) de la première monocaméra (2) et au capteur d'images (3.2) de la seconde monocaméra (3) pour la transmission des données image, et qui est conçue pour l'évaluation stéréoscopique des données image de la première et de la seconde monocaméra (2, 3) en utilisant un algorithme de stéréocaméra.
PCT/DE2015/200210 2014-04-02 2015-03-27 Système de caméras stéréo Ceased WO2015149799A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014206227.6 2014-04-02
DE102014206227.6A DE102014206227A1 (de) 2014-04-02 2014-04-02 Stereokamerasystem

Publications (1)

Publication Number Publication Date
WO2015149799A1 true WO2015149799A1 (fr) 2015-10-08

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DE (1) DE102014206227A1 (fr)
WO (1) WO2015149799A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11195292B2 (en) 2016-08-24 2021-12-07 Sony Corporation Information processing apparatus and method, vehicle, and information processing system

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016205471A1 (de) 2016-04-01 2017-05-04 Conti Temic Microelectronic Gmbh Stereokameravorrichtung sowie ein Verfahren zum Betrieb der Stereokameravorrichtung
DE102018211268A1 (de) 2018-07-09 2020-01-09 Conti Temic Microelectronic Gmbh Stereokameravorrichtung sowie Verfahren zum Betrieb der Stereokameravorrichtung

Citations (4)

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Publication number Priority date Publication date Assignee Title
JPH11177964A (ja) * 1997-12-09 1999-07-02 Omron Corp 画像処理方法およびその装置
JP2002032746A (ja) * 2000-07-17 2002-01-31 Omron Corp 画像処理装置および画像処理方法
DE102004061998A1 (de) 2004-12-23 2006-07-06 Robert Bosch Gmbh Stereokamera für ein Kraftfahrzeug
DE102011082218A1 (de) 2010-09-23 2012-03-29 Continental Teves Ag & Co. Ohg Standortbestimmungseinrichtung in einem Kraftfahrzeug und Informationsfusionsverfahren

Family Cites Families (4)

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Publication number Priority date Publication date Assignee Title
DE102004001572B4 (de) * 2004-01-12 2008-11-13 Daimler Ag Laufzeit-Kalibrierungsverfahren
DE102006010295B4 (de) * 2006-03-07 2022-06-30 Conti Temic Microelectronic Gmbh Kamerasystem mit zumindest zwei Bildaufnehmern
DE102011101246A1 (de) * 2011-05-11 2012-11-15 Conti Temic Microelectronic Gmbh Redudante objektdetektion für fahrerassistenzsysteme
DE102012214720A1 (de) * 2012-06-26 2014-01-02 Robert Bosch Gmbh Objekterkennungssystem und Verfahren zu seinem Betrieb

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11177964A (ja) * 1997-12-09 1999-07-02 Omron Corp 画像処理方法およびその装置
JP2002032746A (ja) * 2000-07-17 2002-01-31 Omron Corp 画像処理装置および画像処理方法
DE102004061998A1 (de) 2004-12-23 2006-07-06 Robert Bosch Gmbh Stereokamera für ein Kraftfahrzeug
DE102011082218A1 (de) 2010-09-23 2012-03-29 Continental Teves Ag & Co. Ohg Standortbestimmungseinrichtung in einem Kraftfahrzeug und Informationsfusionsverfahren

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11195292B2 (en) 2016-08-24 2021-12-07 Sony Corporation Information processing apparatus and method, vehicle, and information processing system

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