Image acquisition system and method for distance determination using an image recording system
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
H04N-007/18
H04N-005/235
G06T-007/00
G06K-009/00
G01S-011/12
출원번호
US-0300731
(2007-04-10)
등록번호
US-8896690
(2014-11-25)
우선권정보
DE-10 2006 027 121 (2006-06-12)
국제출원번호
PCT/EP2007/053441
(2007-04-10)
§371/§102 date
20090417
(20090417)
국제공개번호
WO2007/144213
(2007-12-21)
발명자
/ 주소
Muehlmann, Karsten
Wuerz-Wessel, Alexander
출원인 / 주소
Robert Bosch GmbH
대리인 / 주소
Kenyon & Kenyon LLP
인용정보
피인용 횟수 :
0인용 특허 :
4
초록
A vehicle-based image acquisition system having an image sensor that has a characteristic curve assembled from linear segments. The system includes an arrangement for determining the distance of luminous objects imaged by the image sensor.
대표청구항▼
1. A method for determining the distance between an image acquisition system encompassing an image sensor and a luminous object moving relative to the image acquisition system, the method comprising: generating, using the image sensor, an image of surroundings of the image sensor encompassing a lumi
1. A method for determining the distance between an image acquisition system encompassing an image sensor and a luminous object moving relative to the image acquisition system, the method comprising: generating, using the image sensor, an image of surroundings of the image sensor encompassing a luminous object;after the image has been generated, selecting at least one luminous object of interest from the image generated by the image sensor;for the selected luminous object, sensing a tailing of the image of the selected luminous object, where tailing occurs as a consequence of control properties of the image sensor and a relative velocity between the image sensor and the luminous object; andassociating a magnitude of the tailing with a distance value;wherein from an acquisition time interval of the images of the sensor, and from a change in a relative size of the object in the image, a time to adjacency is determined based on an acquisition time interval of the images and a scale change. 2. The method as recited in claim 1, wherein the extent of the tailing is sensed by way of a window enclosing the image of the luminous object. 3. The method as recited in claim 1, wherein a greatest tailing is associated with a shortest distance value. 4. The method as recited in claim 1, wherein a risk assessment is carried out as a function of the tailing. 5. The method as recited in claim 1, wherein the extent of the tailing is sensed by way of a window enclosing the image of the luminous object, wherein a greatest tailing is associated with a shortest distance value, and wherein a risk assessment is carried out as a function of the tailing. 6. A method for determining the distance between an image acquisition system encompassing an image sensor and a luminous object moving relative to the image acquisition system, the method comprising: generating, using the image sensor, an image of surroundings of the image sensor encompassing a luminous object;selecting a luminous object of interest from the image generated by the image sensor;for the selected object, sensing a tailing of the image of the luminous object, which tailing occurs as a consequence of control properties of the image sensor and a relative velocity between the image sensor and the luminous object; andassociating a magnitude of the tailing with a distance value;wherein from an acquisition time interval of the images of the sensor, and from a change in a relative size of the object in the image, a time to adjacency is determined according to the following equation: tta=Δt/(sc−1.0),wheretta=time to adjacency;Δt=acquisition time interval of the images;sc=scale change (change in relative size of the object in the image). 7. The method as recited in claim 6, wherein the extent of the tailing is sensed by way of a window enclosing the image of the luminous object. 8. The method as recited in claim 6, wherein a greatest tailing is associated with a shortest distance value. 9. The method as recited in claim 6, wherein a risk assessment is carried out as a function of the tailing. 10. The method as recited in claim 6, wherein the extent of the tailing is sensed by way of a window enclosing the image of the luminous object, wherein a greatest tailing is associated with a shortest distance value, and wherein a risk assessment is carried out as a function of the tailing. 11. An image acquisition system for determining the distance to a luminous object moving relative to the image acquisition system, comprising: an image sensor for generating an image of surroundings of the image sensor encompassing a luminous object and selecting at least one luminous object of interest from the generated image after the image has been generated;wherein for the selected luminous object, a tailing of the image of the selected luminous object, where tailing occurs as a consequence of control properties of the image sensor and a relative velocity between the image sensor and the luminous object is sensed, andwherein a magnitude of the tailing is associated with a distance value;wherein from an acquisition time interval of the images of the sensor, and from a change in a relative size of the object in the image, a time to adjacency is determined based on an acquisition time interval of the images and a scale change. 12. The system of claim 11, wherein the extent of the tailing is sensed by a window enclosing the image of the luminous object. 13. The system of claim 11, wherein a greatest tailing is associated with a shortest distance value. 14. The system of claim 11, wherein a risk assessment is performed as a function of the tailing. 15. The system of claim 11, wherein the extent of the tailing is sensed by a window enclosing the image of the luminous object, wherein a greatest tailing is associated with a shortest distance value, and wherein a risk assessment is performed as a function of the tailing. 16. An image acquisition system for determining the distance to a luminous object moving relative to the image acquisition system, comprising: an image sensor for generating an image of surroundings of the image sensor encompassing a luminous object and selecting a luminous object of interest from the generated image;wherein for the selected object, a tailing of the image of the luminous object, which tailing occurs as a consequence of control properties of the image sensor and a relative velocity between the image sensor and the luminous object is sensed,wherein a magnitude of the tailing is associated with a distance value, andwherein from an acquisition time interval of the images of the sensor, and from a change in a relative size of the object in the image, a time to adjacency is determined according to the following equation: tta=Δt/(sc−1.0), where tta=time to adjacency, Δt=acquisition time interval of the images; and sc=scale change (change in relative size of the object in the image). 17. The system of claim 16, wherein the extent of the tailing is sensed by a window enclosing the image of the luminous object. 18. The system of claim 16, wherein a greatest tailing is associated with a shortest distance value. 19. The system of claim 16, wherein a risk assessment is performed as a function of the tailing. 20. The system of claim 16, wherein the extent of the tailing is sensed by a window enclosing the image of the luminous object, wherein a greatest tailing is associated with a shortest distance value, and wherein a risk assessment is performed as a function of the tailing.
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이 특허에 인용된 특허 (4)
Goodrich George W. (Bloomfield MI), Collision avoidance using optical pattern growth rate.
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