초록 ▼

A three-dimensional (3-D) machine-vision obstacle detection solution involving a method and apparatus for performing high-integrity, high efficiency machine vision. The machine vision obstacle detection solution converts two-dimensional video pixel data into 3-D point data that is used for calculati

A three-dimensional (3-D) machine-vision obstacle detection solution involving a method and apparatus for performing high-integrity, high efficiency machine vision. The machine vision obstacle detection solution converts two-dimensional video pixel data into 3-D point data that is used for calculation of the closest distance from the vehicle to points on the 3-D objects, for any object within view of at least one imaging device configured to provide obstacle detection. The obstacle detection apparatus includes an image acquisition device arranged to view a monitored scene stereoscopically and pass the resulting multiple video output signals to a computer for further processing. The multiple video output signals are connected to the input of a video processor adapted to accept the video signals. Video images from each camera are then synchronously sampled, captured, and stored in a memory associated with a general purpose processor. The digitized image in the form of pixel information can then be retrieved, manipulated and otherwise processed in accordance with capabilities of the vision system. The machine vision obstacle detection method and apparatus involves two phases of operation: training and run-time. Training is a series of steps in which 3-D image data and other 3-D data are combined into a 3-D model of a vehicle being navigated. During run-time, the entities observed and optionally segmented objects from a camera on the vehicle are compared against the model to detect obstacles and their relative position and trajectory.

대표청구항 ▼

A three-dimensional (3-D) machine-vision obstacle detection solution involving a method and apparatus for performing high-integrity, high efficiency machine vision. The machine vision obstacle detection solution converts two-dimensional video pixel data into 3-D point data that is used for calculati

A three-dimensional (3-D) machine-vision obstacle detection solution involving a method and apparatus for performing high-integrity, high efficiency machine vision. The machine vision obstacle detection solution converts two-dimensional video pixel data into 3-D point data that is used for calculation of the closest distance from the vehicle to points on the 3-D objects, for any object within view of at least one imaging device configured to provide obstacle detection. The obstacle detection apparatus includes an image acquisition device arranged to view a monitored scene stereoscopically and pass the resulting multiple video output signals to a computer for further processing. The multiple video output signals are connected to the input of a video processor adapted to accept the video signals. Video images from each camera are then synchronously sampled, captured, and stored in a memory associated with a general purpose processor. The digitized image in the form of pixel information can then be retrieved, manipulated and otherwise processed in accordance with capabilities of the vision system. The machine vision obstacle detection method and apparatus involves two phases of operation: training and run-time. Training is a series of steps in which 3-D image data and other 3-D data are combined into a 3-D model of a vehicle being navigated. During run-time, the entities observed and optionally segmented objects from a camera on the vehicle are compared against the model to detect obstacles and their relative position and trajectory. NA, where the proportionality factor k assumes the value k=1.2±10%. 2. The apparatus according to claim 1, further comprising a positioning unit for positioning the optical grating parallel to a reference area of the apparatus. 3. The apparatus according to claim 2, further comprising a drive device for moving the optical grating parallel to the reference area of the apparatus. 4. The apparatus according to claim 3, wherein the optical grating has optical properties corresponding to optical properties of the optical recording medium. 5. The apparatus according to claim 4, wherein the optical grating is a two-dimensional grating. 6. The apparatus according to claim 1, further comprising a drive device for moving the optical grating parallel to a reference area of the apparatus. 7. The apparatus according to claim 1, wherein the optical grating is a two-dimensional grating. 8. In an apparatus for reading from or for writing to optical recording media, a method for compensating for the tilting of an optical element, comprising the steps of: introducing an optical grating into a beam path following the optical element, activating a light source, varying a focal point of the beam path on the grating in a direction non-parallel to a grating plane, detecting intensity of the light coming from the grating, determining a contrast between minima and maxima of the detected intensity, varying the tilting of the optical element until the contrast is at a maximum, and maintaining the set tilting associated with the maximum contrast. 9. The method according to claim 8, further comprising the step of: orienting the grating in a normal plane to the desired direction of the optical axis. 10. The method according to claim 9, characterized by the following additional step: varying the position of the grating in the grating plane in a direction crossing the grating lines. 11. The method according to claim 10, further comprising the steps of: rotating the grating with the optical axis as axis of rotation, varying the tilting of the optical element until the contrast is at a maximum. 12. The method according to claim 9, further comprising the steps of: rotating the grating with the optical axis as axis of rotation, varying the tilting of the optical element until the contrast is at a maximum. 13. The method according to claim 8, further comprising the step of: varying the position of the grating in the grating plane in a direction crossing the grating lines. 14. The method according to claim 8, further comprising the steps of: rotating the grating with the optical axis as axis of rotation, varying the tilting of the optical element until the contrast is at a maximum.