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1. WO2017157799 - METHOD FOR MOTION ESTIMATION BETWEEN TWO IMAGES OF AN ENVIRONMENTAL REGION OF A MOTOR VEHICLE, COMPUTING DEVICE, DRIVER ASSISTANCE SYSTEM AS WELL AS MOTOR VEHICLE

Publication Number WO/2017/157799
Publication Date 21.09.2017
International Application No. PCT/EP2017/055715
International Filing Date 10.03.2017
IPC
G06T 7/223 2017.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
20Analysis of motion
223using block-matching
G06T 7/80 2017.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
80Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
CPC
B60R 2001/1253
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
1Optical viewing arrangements
12Mirror assemblies combined with other articles, e.g. clocks
1253with cameras, video cameras or video screens
B60R 2300/101
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
2300Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
10characterised by the type of camera system used
101using cameras with adjustable capturing direction
B60R 2300/102
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
2300Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
10characterised by the type of camera system used
102using 360 degree surveillance camera system
B60R 2300/105
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
2300Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
10characterised by the type of camera system used
105using multiple cameras
B60R 2300/303
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
2300Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
30characterised by the type of image processing
303using joined images, e.g. multiple camera images
B60R 2300/802
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
2300Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
80characterised by the intended use of the viewing arrangement
802for monitoring and displaying vehicle exterior blind spot views
Applicants
  • CONNAUGHT ELECTRONICS LTD. [IE]/[IE]
Inventors
  • ERMILIOS, Pantelis
  • MCNAMARA, Bryan
  • O'GRADY, William
  • FRIEL, Myles
Agents
  • JAUREGUI URBAHN, Kristian
Priority Data
10 2016 104 732.515.03.2016DE
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) METHOD FOR MOTION ESTIMATION BETWEEN TWO IMAGES OF AN ENVIRONMENTAL REGION OF A MOTOR VEHICLE, COMPUTING DEVICE, DRIVER ASSISTANCE SYSTEM AS WELL AS MOTOR VEHICLE
(FR) PROCÉDÉ D'ESTIMATION DE MOUVEMENT ENTRE DEUX IMAGES D'UNE RÉGION ENVIRONNEMENTALE D'UN VÉHICULE MOTORISÉ, DISPOSITIF INFORMATIQUE, SYSTÈME D'ASSISTANCE AU CONDUCTEUR AINSI QUE VÉHICULE MOTORISÉ
Abstract
(EN) The invention relates to a method for motion estimation between two images of an environmental region (9) of a motor vehicle (1) captured by a camera (4) of the motor vehicle (1), wherein the following steps are performed: a) determining at least two image areas of a first image as at least two first blocks (B) in the first image, b) for each first block (B), defining a respective search region in a second image for searching the respective search region in the second image for a second block (B) corresponding to the respective first block (B); c) determining a cost surface (18) for each first blocks (B) and its respective search region; d) determining an averaged cost surface (19) for one of the at least two first blocks (B) based on the cost surfaces (18); d) identifying a motion vector (v) for the one of the first blocks (B) describing a motion of a location of the first block (B) in the first image and the corresponding second block (B) in the second image. The invention also relates to a computing device (3), a driver assistance system (2) as well as a motor vehicle (1).
(FR) L'invention concerne un procédé d'estimation de mouvement entre deux images d'une région environnementale (9) d'un véhicule motorisé (1) capturée par un appareil photographique (4) du véhicule motorisé (1). Le procédé comprend les étapes suivantes : a) détermination d'au moins deux zones d'image d'une première image en tant qu'au moins deux premiers blocs (B) dans la première image, b) pour chaque premier bloc (B), définition d'une région de recherche respective dans une deuxième image afin de rechercher un deuxième bloc (B) dans la région de recherche respective dans la deuxième image, lequel correspond au premier bloc (B) respectif ; c) détermination d'une surface de coût (18) pour chaque premier bloc (B) et sa région de recherche respective ; d) détermination d'une moyenne de surface de coût (19) pour l'un des au moins deux premiers blocs (B) en se basant sur les surfaces de coût (18) ; d) identification d'un vecteur de mouvement (v) pour celui des premiers blocs (B) qui décrit un mouvement d'un emplacement du premier bloc (B) dans la première image et du deuxième bloc (B) correspondant dans la deuxième image. L'invention concerne également un dispositif informatique (3), un système d'assistance au conducteur (2) ainsi qu'un véhicule motorisé (1).
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