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1. (WO2018059630) DETECTION AND VALIDATION OF OBJECTS FROM SEQUENTIAL IMAGES FROM A CAMERA

Pub. No.:    WO/2018/059630    International Application No.:    PCT/DE2017/200101
Publication Date: Fri Apr 06 01:59:59 CEST 2018 International Filing Date: Fri Sep 29 01:59:59 CEST 2017
IPC: G06K 9/00
Applicants: CONTI TEMIC MICROELECTRONIC GMBH
Inventors: WALTER, Michael
Title: DETECTION AND VALIDATION OF OBJECTS FROM SEQUENTIAL IMAGES FROM A CAMERA
Abstract:
The invention relates to a method and to a device for detecting and validating objects from images from a camera and can be used in particular in camera-based driver assistance systems. The method for detecting objects from a series of images from a vehicle camera comprises the following steps: a) capturing a series of images by means of the vehicle camera, b) detecting a potential collision object in at least one image, c) determining corresponding features in two consecutive images in the region of the detected potential collision object, e) associating a plurality of determined corresponding features with a plane in space, and g) validating a potential collision object if the associated plane corresponds to a projecting object. According to a preferred embodiment, the method comprises the following step(s): d) computing homographs for the determined corresponding features for associating said corresponding features with a plane in space; and/or e2) associating a plurality of determined corresponding features with one of a plurality of planes of specified orientation in space, and f) making an association with the plane in space that results in the smallest back-projection error for the determined corresponding features, wherein the back-projection error indicates the difference between the measured correspondence of a feature in two consecutive images and the correspondence predicted from the computed homograph.