WO2004013575A1 - Camera arrangement with a reflecting surface - Google Patents

Camera arrangement with a reflecting surface Download PDF

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Publication number
WO2004013575A1
WO2004013575A1 PCT/EP2003/007433 EP0307433W WO2004013575A1 WO 2004013575 A1 WO2004013575 A1 WO 2004013575A1 EP 0307433 W EP0307433 W EP 0307433W WO 2004013575 A1 WO2004013575 A1 WO 2004013575A1
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WIPO (PCT)
Prior art keywords
camera
reflecting surface
mirror
arrangement
area
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PCT/EP2003/007433
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German (de)
French (fr)
Inventor
Alexander Würz-Wessel
Original Assignee
Daimlerchrysler Ag
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Publication date
Application filed by Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Priority to EP03766143A priority Critical patent/EP1525431A1/en
Publication of WO2004013575A1 publication Critical patent/WO2004013575A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images

Definitions

  • the invention relates to a device for stereo image processing in a motor vehicle according to claims 1 and 2.
  • a method in particular in the field of computer and robot technology, in which the distance of an object is determined with the aid of two cameras.
  • the baseline i.e. the distance between the cameras, is included in the measurement accuracy. From this point of view, the largest possible baseline would be desirable, which is only possible within a narrow range in a vehicle.
  • the object in order to be able to determine the distance of the object, the object must be clearly identified in the left image and in the right image. The likelihood of finding this correspondence correctly is called matching and decreases as the baseline increases and the perspective angle increases. A balance must therefore be made between measuring accuracy and matching probability.
  • two-camera stereo has problems with repetitive patterns. Picket fences, avenue trees or railings, especially if parts of the pattern for a camera are covered by other objects, lead to incorrect matching and therefore incorrect object distances for two cameras. Hiding occurs through the most varied objects. When used in a motor vehicle, for example, this can be a vehicle traveling in front or the windshield wiper that just obscures the view of a camera.
  • a system for image processing in a motor vehicle which eliminates these problems is known from the subsequently published document DE 10103870 AI.
  • the image of the objects reflected on the body of the vehicle is also evaluated.
  • the disadvantage here is that the mirror characteristics of the body due to the usual in road traffic Soiling can be significantly impaired and the quality of the image processing is not negligibly influenced.
  • the object of the invention is to find a device for stereo image processing for motor vehicles which is not very dirty and which can be manufactured robustly and inexpensively.
  • the inventive device has at least one camera, in the field of view of which there is a reflecting surface.
  • the reflecting surface is oriented such that the mirrored area at least partially overlaps the area that can be viewed directly by the at least one camera.
  • the reflecting surface is located in a particularly advantageous manner in the interior of the vehicle. In this way, contrary to the systems known from the prior art, it can be avoided that the reflecting surface is contaminated and the stereo image evaluation is thereby impaired.
  • the camera and the reflecting surface are designed as a structural unit.
  • the device can be designed in a suitable manner to be insensitive to protection, for example by providing it with a dirt-repellent or easy-to-clean screen during manufacture. Also can be integrate such an arrangement as a compact element in the outer skin or outer structures of vehicles.
  • Fig. 2 shows the image of a typical street scene in the image data
  • a second, virtual camera is generated by the reflecting surface, thus emulating a stereo camera system in which an optimal virtual base width can be set by suitably positioning the camera relative to the reflecting surface , Since this virtual base width is generally much larger than the distance between the camera and the reflecting surface (FIG. 1), such a system can be made more compact in a particularly advantageous manner than is the case for a conventional stereo camera system.
  • the arrangement of a camera 11 with a reflecting surface 12 is shown schematically in FIG. This combination results in a base width b between the camera 11 and the virtual camera 13, which is significantly larger than the real distance a between the camera 12 and the reflecting surface.
  • the novel design opens up a design of the camera arrangement that is essentially independent of the vehicle design.
  • the shape of the reflecting surface can be tailored to the needs of the body, regardless of the specified shape of the body Image processing to be selected task.
  • the reflective surface can be created, for example, by special surface design of an object in the vehicle interior; it is conceivable to polish a certain area of the dashboard with a mirror finish or to provide it with a reflective layer by gluing or steaming.
  • a special mirror associated with the inventive camera arrangement as the reflecting surface.
  • Such a mirror could, for example, be embedded in an object located in the vehicle interior, in particular for design reasons. To this end, it can be very profitable not to make the mirror flat, but to adapt it to the contour of this object.
  • the mirror can be connected directly to the camera.
  • a particularly small installation dimension can be realized for the stereo camera arrangement.
  • the newly created possibility of significantly reducing the dimensions of a stereo camera arrangement also creates the possibility of integrating such in a space-saving manner in motorcycles, in particular for reasons of the necessary ones Basic width of the camera arrangement conventional stereo camera systems can not be optimally arranged. It is particularly conceivable to arrange the camera arrangement behind the fairing, above the fittings, in the "interior" of the motorcycle.
  • a structural unit Due to the possibility of a compact design arrangement of the camera and reflecting surface, it is also particularly advantageous to design such a camera arrangement as a structural unit, which due to the imaging properties are very robust against the effects of vibrations, since the camera and the reflecting one Surface can be firmly coupled together.
  • a structural unit can then also be mounted profitably in the outside area of a motor vehicle, for example by recessing it in the outer skin or by integrating it into a housing located there (for example rear-view mirrors, in particular in the case of trucks or buses).
  • a targeted selection an installation location can be determined which can be shielded relatively well from unfavorable environmental influences (splash water, rain, fog), so that the pollution of the reflecting surface can be reduced to an acceptable level.
  • the inventive camera device also includes a means for correcting distortions in the image of the objects in the image data assigned to the mirror images.
  • a means for correcting distortions in the image of the objects in the image data assigned to the mirror images In this way it is possible to use reflective surfaces of any design without having to pay attention primarily to their imaging properties when selecting.
  • the stereo camera arrangements in motor vehicles known from the prior art are arranged horizontally essentially for design reasons.
  • the novel design of the camera arrangement opens up the possibility of profitably the camera and the reflective one Arrange the area under or on top of each other. It is particularly advantageous for the reflecting surface dm to be substantially perpendicular below or above the camera / a. to place. This results in a virtual vertical stereo camera arrangement which is particularly suitable for the detection and measurement of horizontals of objects in the environment.
  • FIG. 2 shows an example of a typical scenario, the image data as supplied by the camera arrangement according to the invention.
  • the image here consists of a part 21 which corresponds to the image data originating directly from the objects and to the reflected image 22 of the objects which form below a mirror plane 20 (depending on how the camera and mirror are arranged relative to one another, the images can correspond to one another Areas located elsewhere in the image data (e.g. direct view below and mirror image above).
  • a motor vehicle is moving along a road 23 passing under a bridge 24, it becomes clear that the position of the upper horizontal edge 25 and the lower horizontal edge 26 is estimated as precisely as possible from the image data in order to determine the driving light profile must become.
  • a sufficient quality of the estimate, by means of which the passage height can be reliably determined, can only be determined by means of a vertical stereo arrangement, which can be implemented in an ideal manner by the system described here. It is immaterial whether the reflecting surface is above or below the camera.
  • the previous horizontal arrangements of the stereo cameras known from the motor vehicle sector do not meet the necessary requirements.
  • the novel camera arrangement can also be combined particularly advantageously with an existing stereo image processing system. For example, it is conceivable to align the horizontally already existing in a motor vehicle tete camera arrangement to complement by a reflective surface such that a combination of vertical and horizontal stereo arrangement is created, whereby all horizontal and vertical infrastructure components in road traffic can be optimally detected and measured

Abstract

False estimation of the clearance profile (thoroughfare height) increasingly leads to damage to utility vehicles. The invention relates to an assistance system which warns the driver if the thoroughfare height is too little, requiring reliable measurement of the clearance profile. In order to evaluate the horizontal edges of an image scene, a vertical camera arrangement is used, said camera arrangement more specifically consisting of a single camera and a reflecting surface associated with said camera. The reflecting surface is configured in such a way that the area reflected therein overlaps with the area which the camera directly looks into at least partially. The camera arrangement can be advantageously embodied in the form of a single module which can be arranged inside the interior or in the outer skin of a motor vehicle.

Description

Kameraanordnung mit einer spiegelnden Fläche Camera arrangement with a reflective surface
Die Erfindung betrifft eine Vorrichtungen zur Stereobildverarbeitung in einem Kraftfahrzeug nach den Ansprüchen 1 und 2.The invention relates to a device for stereo image processing in a motor vehicle according to claims 1 and 2.
Durch falsche Einschätzung des Lichtraumprofils (Durchfahrtshöhe) kommt es im Nutzfahrzeugbereich immer wieder zu Beschädigungen am Fahrzeug. Ein Assistenzsystem, welches den Fahrer bei zu geringer Durchfahrtshöhe warnt, benötigt eine zuver- lässige Vermessung des Lichtraumprofils.Incorrect assessment of the clearance profile (headroom) leads to repeated damage to the vehicle in the commercial vehicle area. An assistance system, which warns the driver if the headroom is too low, requires a reliable measurement of the clearance profile.
Aus dem Artikel Nayar S.K., 1988, Sphereo : Determining Depth using Two Specular Spheres and a Single Camera, In Procee- dings of SPIE: Optics, Illumination, and Image Sensing for Machine Vision III, Vol. 1005., SPIE, Society of Photo- Optical Engineering, 245-254 ist ein Verfahren und eine Vorrichtung zur Entfernungsmessung von Gegenständen bekannt, bei dem eine Kamera das Originalbild eines Gegenstandes sowie zwei Spiegelbilder des Gegenstandes, die an zwei spiegelnden Flächen reflektiert werden, aufnimmt. Mit diesen drei Bildern kann dann unter Zuhilfenahme eines mathematischen Algorithmus der Abstand des Gegenstandes bestimmt werden. Bei diesem Verfahren ist es wesentlich, daß die spiegelnden Flächen eine bestimmte Geometrie aufweisen. Ferner ist es unabdingbar, daß auch die örtlich Lage der spiegelnden Flächen sowohl hin- sichtlich ihrer Entfernung und ihres Winkels bezüglich der Kamera als auch zueinander bekannt und immer gleichbleibend ist. Eine derartige Vorrichtung und damit das zugehörige Verfahren ist für eine Verwendung in einem Kraftfahrzeug und hierbei insbesondere einem Automobil allenfalls bedingt geeignet .From Nayar SK, 1988, Sphereo: Determining Depth using Two Specular Spheres and a Single Camera, In Processings of SPIE: Optics, Illumination, and Image Sensing for Machine Vision III, Vol. 1005., SPIE, Society of Photo - Optical Engineering, 245-254, a method and a device for measuring the distance of objects is known, in which a camera takes the original image of an object and two mirror images of the object, which are reflected on two reflecting surfaces. With these three images, the distance of the object can then be determined with the aid of a mathematical algorithm. With this method it is essential that the reflecting surfaces have a certain geometry. Furthermore, it is essential that the local position of the reflecting surfaces is known and always constant both with regard to their distance and their angle with respect to the camera and to one another. Such a device and thus the associated method is for use in a motor vehicle and in this case particularly suitable for an automobile at best.
Des weiteren ist insbesondere im Bereich der Computer und Robottechnik ein Verfahren (Stereobildverarbeitung) bekannt, bei dem unter Zuhilfenahme zweier Kameras die Entfernung eines Gegenstandes bestimmt wird. Dabei geht die Basislinie, also die Entfernung der Kameras zueinander, in die Meßgenauigkeit ein. Aus diesem Blickwinkel wäre eine möglichst große Basislinie wünschenswert, was in einem Fahrzeug nur in engen Grenzen möglich ist. Des weiteren muß um die Entfernung des Gegenstandes bestimmen zu können, muß das Objekt im linken Bild und im rechten Bild eindeutig identifiziert werden. Die Wahrscheinlichkeit, diese Korrespondenz korrekt zu finden, wird Matching genannt und nimmt mit wachsender Basislinie und damit wachsendem Blickwinkelunterschied ab. Es muß also eine Abwägung zwischen Meßgenauigkeit und Matching- Wahrscheinlichkeit vorgenommen werden.Furthermore, a method (stereo image processing) is known in particular in the field of computer and robot technology, in which the distance of an object is determined with the aid of two cameras. The baseline, i.e. the distance between the cameras, is included in the measurement accuracy. From this point of view, the largest possible baseline would be desirable, which is only possible within a narrow range in a vehicle. Furthermore, in order to be able to determine the distance of the object, the object must be clearly identified in the left image and in the right image. The likelihood of finding this correspondence correctly is called matching and decreases as the baseline increases and the perspective angle increases. A balance must therefore be made between measuring accuracy and matching probability.
Darüber hinaus treten beim Zwei-Kamera-Stereo Probleme mit repetitiven Mustern auf. Lattenzäune, Alleenbäume oder Gelän- der, speziell wenn Teile des Musters für eine Kamera durch andere Objekte verdeckt sind, führen bei zwei Kameras zu falschem Matching und damit zu falschen Objektentfernungen. Ver- deckungen treten durch die verschiedensten Objekte auf. Dies kann beispielsweise bei der Verwendung in einem Kraftfahrzeug ein vorausfahrendes Fahrzeug oder auch der Scheibenwischer sein, der den Blick einer Kamera gerade verdeckt. Ein System zur Bildverarbeitung in einem Kraftfahrzeug, welches diese Probleme beseitigt ist aus der nachveröffentlichten Schrift DE 10103870 AI ist ein bekannt. Hierbei wird im Rahmen einer Stereobildverarbeitung zusätzlich zu den direkt von den Objekten empfangenen Originalbilder auch das an der Karosserie des Fahrzeugs reflektierte Abbild der Objekte ausgewertet. Nachteilig wirkt sich hierbei aus, dass die Spiegelcharakteristik der Karosserie durch die im Straßenverkehr übliche Verschutzung in erheblichen Maße beeinträchtigt werden kann und so die Qualität der Bildverarbeitung nicht unerheblich beeinflußt wird.In addition, two-camera stereo has problems with repetitive patterns. Picket fences, avenue trees or railings, especially if parts of the pattern for a camera are covered by other objects, lead to incorrect matching and therefore incorrect object distances for two cameras. Hiding occurs through the most varied objects. When used in a motor vehicle, for example, this can be a vehicle traveling in front or the windshield wiper that just obscures the view of a camera. A system for image processing in a motor vehicle which eliminates these problems is known from the subsequently published document DE 10103870 AI. In the course of stereo image processing, in addition to the original images received directly from the objects, the image of the objects reflected on the body of the vehicle is also evaluated. The disadvantage here is that the mirror characteristics of the body due to the usual in road traffic Soiling can be significantly impaired and the quality of the image processing is not negligibly influenced.
Die Aufgabe der Erfindung ist es, eine Vorrichtung zur Stereobildverarbeitung für Kraftfahrzeuge zu finden, welche wenig verschmutzt und welche sich robust und kostengünstig fertigen läßt.The object of the invention is to find a device for stereo image processing for motor vehicles which is not very dirty and which can be manufactured robustly and inexpensively.
Die Aufgabe wird zum einen durch eine Vorrichtung mit den Merkmalen des Patentanspruchs 1 und zum anderen durch eine Vorrichtung mit den Merkmalen des Patentanspruchs 2 gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung werden durch die Unteransprüche beschrieben.The object is achieved on the one hand by a device with the features of claim 1 and on the other hand by a device with the features of claim 2. Advantageous refinements and developments of the invention are described by the subclaims.
Die erfinderische Vorrichtung verfügt über wenigstens eine Kamera, in deren Blickfeld sich eine spiegelnde Oberfläche befindet. Hierbei ist die spiegelnde Oberfläche so ausgerichtet, dass der gespiegelte Bereich mit demjenigen Bereich zumindest in Teilen überlappt, welcher durch die wenigstens ei- ne Kamera direkt eingesehen werden kann. Hierbei befindet sich die spiegelnde Oberfläche in besonders vorteilhafter Weise im Innenraum des Fahrzeugs. Auf diese weise kann entgegen den aus dem Stand der Technik bekannten Systemen vermieden werden, dass die spiegelnde Fläche verschmutzt und hier- durch die Stereobildauswertung beeinträchtigt wird.The inventive device has at least one camera, in the field of view of which there is a reflecting surface. Here, the reflecting surface is oriented such that the mirrored area at least partially overlaps the area that can be viewed directly by the at least one camera. Here, the reflecting surface is located in a particularly advantageous manner in the interior of the vehicle. In this way, contrary to the systems known from the prior art, it can be avoided that the reflecting surface is contaminated and the stereo image evaluation is thereby impaired.
In einer anderen erfinderischen Ausgestaltung der Vorrichtung sind die Kamera und die spiegelnde Oberfläche als eine bauliche Einheit ausgebildet. In besonders vorteilhafter Weise läßt sich hierbei die Vorrichtung in geeigneter Weise ver- schutzungsunempfindlich ausgestalten, beispielsweise indem sie schon bei der Fertigung mit einer schmutzabweisenden oder einfach zu reinigenden Blende versehen wird. Auch läßt sich eine solche Anordnung als kompaktes Element in die Aussenhaut oder Außenaufbauten von Fahrzeugen integrieren.In another inventive embodiment of the device, the camera and the reflecting surface are designed as a structural unit. In a particularly advantageous manner, the device can be designed in a suitable manner to be insensitive to protection, for example by providing it with a dirt-repellent or easy-to-clean screen during manufacture. Also can be integrate such an arrangement as a compact element in the outer skin or outer structures of vehicles.
Nachfolgend wird anhand von Ausführungsbeispielen und Figuren die Erfindung und deren Ausgestaltungen näher beschrieben. Dabei zeigen:The invention and its embodiments are described in more detail below with the aid of exemplary embodiments and figures. Show:
Fig. 1 die aus der- Anordnung von Kamera und spiegelnder Fläche resultierende Stereogeometrie1 shows the stereo geometry resulting from the arrangement of the camera and the reflecting surface
Fig. 2 die Abbildu.ng einer typischen Straßenszene in den BilddatenFig. 2 shows the image of a typical street scene in the image data
Bei der neuartigen, erfinderischen 1-Kamera/1-Spiegel Kameraanordnung wird dur/ch die spiegelnde Oberfläche eine zweite, virtuelle Kamera erzeugt und so ein Stereokamerasystem emuliert, bei welchem sich durch geeignete Positionierung der Kamera zu der spiegelnden Oberfläche eine optimale virtuelle Basisbreite einstellen läßt. Da diese virtuelle Basisbreite im allgemeinen wesentlich größer als der Abstand zwischen Kamera und spiegelnde Oberfläche ist (Figur 1) , läßt sich ein solches System in besonders vorteilhafter Weise kompakter gestalten als dies für ein herkömmliches Stereokamerasystem der Fall ist. Beispielhaft ist in Figur 1 schematisch die Anordnung einer Kamera 11 mit einer spiegelnden Fläche 12 aufgezeigt. Durch diese Kombination ergibt sich eine Basisbreite b zwischen Kamera 11 und der virtuellen Kamera 13, welche signifikant größer als der reale Abstand a zwischen der Kamera 12 und der spiegelnden Fläche ist.In the novel, inventive 1-camera / 1-mirror camera arrangement, a second, virtual camera is generated by the reflecting surface, thus emulating a stereo camera system in which an optimal virtual base width can be set by suitably positioning the camera relative to the reflecting surface , Since this virtual base width is generally much larger than the distance between the camera and the reflecting surface (FIG. 1), such a system can be made more compact in a particularly advantageous manner than is the case for a conventional stereo camera system. The arrangement of a camera 11 with a reflecting surface 12 is shown schematically in FIG. This combination results in a base width b between the camera 11 and the virtual camera 13, which is significantly larger than the real distance a between the camera 12 and the reflecting surface.
Im Gegensatz zu der nachverδffentlichten Schrift DE 10103870 AI beschriebenen Anordnung, bei welcher die lackierte Fahrzeugkarosserie Spiegelfläche fungiert, eröffnet die neuartige Ausgestaltung eine vom Fahrzeugdesign im wesentlichen unab- hängige Ausgestaltung der Kameraanordnung. Zum einen kann die Form der spiegelnden Fläche unabhängig von der vorgegebenen Gestalt der Karosserie ganz nach den Bedürfnissen der von der Bildverarbeitung zu lösenden Aufgabenstellung gewählt werden. Zum anderen wird es möglich einen optimalen Kompromiss zwischen den Spiegeleigenschaften der spiegelnden Fläche und der Fahrzeuginnenraumgestaltung zu finden. So ist es beispiels- weise denkbar bei dunkel gehaltener Fahrzeuginnenraumausstattung eine etwas abgedunkelte Spiegeloberfläche zu verwenden, welche jedoch noch genügend Umgebungsinfomation reflektiert. In Bezug auf die Variabilität der Formgebung, ist es sehr wohl auch denkbar die spiegelnde Oberfläche der Form seiner Umgebung anzupassen; beispielsweise dem Armaturenbrett.In contrast to the arrangement described in DE 10103870 A1, in which the painted vehicle body acts as a mirror surface, the novel design opens up a design of the camera arrangement that is essentially independent of the vehicle design. On the one hand, the shape of the reflecting surface can be tailored to the needs of the body, regardless of the specified shape of the body Image processing to be selected task. On the other hand, it becomes possible to find an optimal compromise between the mirror properties of the reflecting surface and the interior of the vehicle. It is conceivable, for example, to use a somewhat darkened mirror surface when the vehicle interior is kept dark, but which still reflects sufficient information about the surroundings. With regard to the variability of the shape, it is also conceivable to adapt the reflecting surface to the shape of its surroundings; for example the dashboard.
Die spiegelnde Oberfläche kann beispielsweise durch spezielle Oberflächengestaltung eines Gegenstandes im Fahrzeuginnenraum geschaffen werden; so ist es denkbar, einen bestimmten Bereich des Armaturenbrettes spiegelnd zu polieren oder auch mit einer spiegelnden Schicht durch aufkleben oder bedampfen zu versehen. Es ist jedoch auch denkbar als spiegelnde Oberfläche einen speziellen der erfinderischen Kameraanordnung zugeordnenten Spiegel zu verwenden. Ein solcher Spiegel könnte beispielsweise insbesondere aus gestalterischen Überlegun- gen in einen im Fahrzeuginnenraum befindlichen Gegenstand eingelassen werden. Hierzu kann es sehr wohl gewinnbringend sein, den Spiegel nicht plan sonder an die Kontour dieses Gegenstandes angepasst auszuführen.The reflective surface can be created, for example, by special surface design of an object in the vehicle interior; it is conceivable to polish a certain area of the dashboard with a mirror finish or to provide it with a reflective layer by gluing or steaming. However, it is also conceivable to use a special mirror associated with the inventive camera arrangement as the reflecting surface. Such a mirror could, for example, be embedded in an object located in the vehicle interior, in particular for design reasons. To this end, it can be very profitable not to make the mirror flat, but to adapt it to the contour of this object.
Eine zusätzliche Robustheit der Kameraanordnung, insbesondere hinsichtlich der im Straßenverkehr vorherrschenden starken Vibrationen des Fahrzeugaufbaus , kann der Spiegel direkt mit der Kamera in Verbindung stehen. Insbesondere für den Fall, dass der Spiegel direkt im Bereich der Linse der Kamera angebracht wird, kann ein besonders geringes Einbaumaß für die Stereo-Kameraanordnung realisiert werden. Durch die neu geschaffene Möglichkeit eine Stereokameraanordnung in ihren Dimensionen wesentlich zu reduzieren wird auch die Möglichkeit geschaffen, eine solche platzsparend in Krafträdern zu integrieren, bei welchen insbesondere aus Gründen der notwendigen Basisbreite der Kameraanordnung herkömmliche Stereokamerasy- steme nicht optimal angeordnet werden können. Hierbei ist es insbesondere denkbar die Kameraanordnung geschützt hinter der Verkleidung, oberhalb der Armaturen, im , Innenraum' des Mo- torrades anzuordnen.An additional robustness of the camera arrangement, in particular with regard to the strong vibrations of the vehicle structure prevailing in road traffic, the mirror can be connected directly to the camera. In particular in the event that the mirror is attached directly in the area of the lens of the camera, a particularly small installation dimension can be realized for the stereo camera arrangement. The newly created possibility of significantly reducing the dimensions of a stereo camera arrangement also creates the possibility of integrating such in a space-saving manner in motorcycles, in particular for reasons of the necessary ones Basic width of the camera arrangement conventional stereo camera systems can not be optimally arranged. It is particularly conceivable to arrange the camera arrangement behind the fairing, above the fittings, in the "interior" of the motorcycle.
Durch die Möglichkeit der kompakten Bauweise Anordnung von Kamera und spiegelnder Fläche ist es in besonders vorteilhafter Weise auch denkbar eine solche Kameraanordnung als eine bauliche Einheit auszugestalten, welche in Folge der Abbil- dungseigenschaften sehr robust gegen Einflüsse von Vibrationen sind, da die Kamera und die spiegelnde Fläche fest aneinander gekoppelt werden können. Eine solche bauliche Einheit läßt sich denn auch gewinnbringend im Außenbereich eines Kraftfahrzeugs montieren, beispielsweise durch Einlassung in die Außenhaut oder durch Integration in ein dort befindliches Gehäuse (beispielsweise Rückspiegel, insbesondere bei Lastkraftwagen oder Omnibussen) . Durch mittels einer gezielten Auswahl, läßt sich so ein Einbauort bestimmen, welcher sich von ungünstigen von Umwelteinfüssen (Spritzwasser, Regen, Ne- belniederschlag) relativ gut abschirmen läßt, so dass sich die Verschmutzung der spiegelnden Oberfläche auf ein akzeptables Maß verringern läßt .Due to the possibility of a compact design arrangement of the camera and reflecting surface, it is also particularly advantageous to design such a camera arrangement as a structural unit, which due to the imaging properties are very robust against the effects of vibrations, since the camera and the reflecting one Surface can be firmly coupled together. Such a structural unit can then also be mounted profitably in the outside area of a motor vehicle, for example by recessing it in the outer skin or by integrating it into a housing located there (for example rear-view mirrors, in particular in the case of trucks or buses). By means of a targeted selection, an installation location can be determined which can be shielded relatively well from unfavorable environmental influences (splash water, rain, fog), so that the pollution of the reflecting surface can be reduced to an acceptable level.
In besonders vorteilhafter Weise umfasst die erfinderische Kameravorrichtung auch ein Mittel um Verzerrungen in der Ab- bildung der Objekte in den Spiegelbildern zugeordeten Bilddaten zu korrigieren. Auf diese Weise wird es möglich spiegelnde Oberflächen beliebiger Ausgestaltung zu verwenden, ohne bei der Auswahl primär auf deren Abbildungseigenschaften achten zu müssen. Die aus dem Stand der Technik bekannten Stereokameraanordnungen in Kraftfahrzeugen sind im wesentlichen aus gestalterischen Gründen horizontal angeordnet. Demgegenüber eröffnet die neuartige Ausgestaltung der Kameraanordnung, die Möglichkeit in gewinnbringender Weise die Kamera und die spiegelnde Fläche auch unter oder übereinander anzuordnen. Dabei ist es besonders vorteilhaft die spiegelnde Oberfläche dm wesentlichen senkrecht unterhalb oder oberhalb der Kamer/a. zu plazieren. Auf diese Weise ergibt sich eine virtuelle vertikale Stereokameraanordnung, welche sich in besonderer Weise für die Detektion und Vermessung von Horizontalen von Objekten in der Umgebung eignen. Insbesondere eignet sich eine solche vertikale Anordnung zur Erkennung des Fahrraumlichtprofils (Durchfahrtshöhe) . Figur 2 zeigt beispielhaft als typisches Szenario die Bilddaten wie von der erfindungsgemäßen Kameraanordnung geliefert werden. Das Bild besteht hierbei aus einem Teil 21, welcher den direkt von den Objekten stammenden Bilddaten entspricht und dem sich unterhalb einer Spiegelebene 20 abbildenden re- flektierten Abbild 22 der Objekte (je nachdem wie Kamera und Spiegel zueinander angeordnet sind, können sich die den Abbildern entsprechenden Bereiche an anderer Stelle innerhalb der Bilddaten befinden; beispielsweise Direktansicht unten und Spiegelbild oben) . Für den hier dargestellten Fall, dass sich ein Kraftfahrzeug auf einer sich unter einer Brücke 24 hindurchführenden Straße 23 entlang bewegt, wird deutlich, dass zur Bestimmung des Fahrraumlichtprofils die Position der oberen waagrechten Kante 25 und der unteren waagrechten Kante 26 aus den Bilddaten möglichst exakt geschätzt werden muß. Eine ausreichend Qualität der Schätzung, mittels welcher zuverlässig die Durchfahrtshöhe bestimmt werden kann, läßt sich nur mittels einer vertikalen Stereoanordnung, welche sich durch das hier beschriebene System in idealer Weise realisieren läßt, bestimmen. Dabei ist es unwesentlich ob sich die spiegelnde Fläche oberhalb oder unterhalb der Kamera befindet. Die bisherigen aus dem Kraftfahrzeugbereich bekannten horizontalen Anordnungen der Stereokameras erfüllen die notwendigen Anforderungen nicht . Besonders vorteilhaft läßt sich die neuartige Kameraanordnung auch mit einer bereits vorliegenden Stereobildverarbeitungs- syste kombinieren. So ist es beispielsweise denkbar die bereits in einem Kraftfahrzeug vorhandene horizontal ausgerich- tete Kameraanordnung, durch eine spiegelnde Fläche dergestalt zu ergänzen, dass eine Kombination aus vertikaler und horizontaler Stereoanordnung entsteht, wodurch sämtliche horizontalen und vertikalen Infrastrukturkomponenten im Straßenverkehr optimal erfaßt und vermessen werden können In a particularly advantageous manner, the inventive camera device also includes a means for correcting distortions in the image of the objects in the image data assigned to the mirror images. In this way it is possible to use reflective surfaces of any design without having to pay attention primarily to their imaging properties when selecting. The stereo camera arrangements in motor vehicles known from the prior art are arranged horizontally essentially for design reasons. In contrast, the novel design of the camera arrangement opens up the possibility of profitably the camera and the reflective one Arrange the area under or on top of each other. It is particularly advantageous for the reflecting surface dm to be substantially perpendicular below or above the camera / a. to place. This results in a virtual vertical stereo camera arrangement which is particularly suitable for the detection and measurement of horizontals of objects in the environment. Such a vertical arrangement is particularly suitable for recognizing the driving light profile (headroom). Figure 2 shows an example of a typical scenario, the image data as supplied by the camera arrangement according to the invention. The image here consists of a part 21 which corresponds to the image data originating directly from the objects and to the reflected image 22 of the objects which form below a mirror plane 20 (depending on how the camera and mirror are arranged relative to one another, the images can correspond to one another Areas located elsewhere in the image data (e.g. direct view below and mirror image above). For the case shown here that a motor vehicle is moving along a road 23 passing under a bridge 24, it becomes clear that the position of the upper horizontal edge 25 and the lower horizontal edge 26 is estimated as precisely as possible from the image data in order to determine the driving light profile must become. A sufficient quality of the estimate, by means of which the passage height can be reliably determined, can only be determined by means of a vertical stereo arrangement, which can be implemented in an ideal manner by the system described here. It is immaterial whether the reflecting surface is above or below the camera. The previous horizontal arrangements of the stereo cameras known from the motor vehicle sector do not meet the necessary requirements. The novel camera arrangement can also be combined particularly advantageously with an existing stereo image processing system. For example, it is conceivable to align the horizontally already existing in a motor vehicle tete camera arrangement to complement by a reflective surface such that a combination of vertical and horizontal stereo arrangement is created, whereby all horizontal and vertical infrastructure components in road traffic can be optimally detected and measured

Claims

Patentansprüche claims
1. Vorrichtung zur Stereobildverarbeitung im Kraftfahrzeug, welche über wenigstens eine Kamera verfügt, in deren Blickfeld sich eine spiegelnde Oberfläche befindet, wobei die spiegelnde Oberfläche so ausgerichtet ist, dass der gespiegelte Bereich mit demjenigen Bereich zumindest in Tei- len überlappt, welcher durch die wenigstens eine Kamera direkt eingesehen werden kann, d a du r c h g e k e n n z e i c h n e t , dass sich die spiegelnde Oberfläche im Innenraum des Fahrzeugs befindet.1. Device for stereo image processing in the motor vehicle, which has at least one camera, in the field of view of which there is a reflecting surface, the reflecting surface being oriented in such a way that the mirrored area at least partially overlaps the area which is through the at least one a camera can be viewed directly since you are marked that the reflective surface is inside the vehicle.
2. Vorrichtung zur Stereobildverarbeitung im Kraftfahrzeug, welche über wenigstens eine Kamera verfügt, in deren Blickfeld sich eine spiegelnde Oberfläche befindet, wobei die spiegelnde Oberfläche so ausgerichtet ist, dass der gespiegelte Bereich mit demjenigen Bereich zumindest in Teilen überlappt, welcher durch die wenigstens eine Kamera direkt eingesehen werden kann, d a d u r c h g e k e n n z e i c h n e t , dass die Kamera und die spiegelnde Oberfläche als bauliche Einheit ausgebildet sind, welche im Innen oder im Außenbereich des Fahrzeugs integrierbar ist. 2. Device for stereo image processing in the motor vehicle, which has at least one camera, in the field of view of which there is a reflecting surface, the reflecting surface being oriented in such a way that the mirrored area at least partially overlaps the area which is through the at least one camera can be viewed directly, characterized in that the camera and the reflecting surface are designed as a structural unit which can be integrated in the interior or exterior of the vehicle.
3. Vorrichtung nach einem der Ansprüche 1 oder 2, d a d u r c.h g e k e n n 2fe i c b. n e t , dass es sich bei der spiegelnden Oberfläche um einen Spiegel handelt, wobei dieser Spiegel vorzugsweise plan ist.3. Device according to one of claims 1 or 2, d a d u r c.h g e k e n n 2fe i c b. n e t that the reflecting surface is a mirror, this mirror preferably being flat.
4. Vorrichtung nach Anspruch 3 , d a d u r c h g e k e n n z e i c h n e t , dass der Spiegel mit der Kamera verbunden ist.4. The device according to claim 3, d a d u r c h g e k e n n z e i c h n e t that the mirror is connected to the camera.
5. Vorrichtung nach einem der Ansprüche 1 bis 4, d a d u r c h g e k e n n z e i c h n e t , dass ein Mittel vorgesehen ist, um die Verzerrungen in der Abbildungen der Objekte in den Spiegelbilddaten zu korrigie- ren.5. Device according to one of claims 1 to 4, so that a means is provided in order to correct the distortions in the images of the objects in the mirror image data.
6. Vorrichtung nach einem der Ansprüche 1 bis 5, d a d u r c h g e k e n n z e i c h n e t , dass sich die spiegelnde Oberfläche im wesentlichen senkrecht unterhalb oder oberhalb der Kamera befindet.6. Device according to one of claims 1 to 5, d a d u r c h g e k e n e z e i c h n e t that the reflecting surface is substantially perpendicular below or above the camera.
7. Verwendung der Vorrichtung nach einem der Ansprüche 1 bis 6, zur Vermessung des Fahrraumlicht rofils .7. Use of the device according to one of claims 1 to 6, for measuring the driving light profile.
8. Verwendung der Vorrichtung nach einem der Ansprüche 1 bis 6, an einem Kraftrad. 8. Use of the device according to one of claims 1 to 6, on a motorcycle.
PCT/EP2003/007433 2002-07-29 2003-07-09 Camera arrangement with a reflecting surface WO2004013575A1 (en)

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