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1. 发明申请

WO2012139660A1 ONLINE VEHICLE CAMERA CALIBRATION BASED ON ROAD MARKING EXTRACTIONS 审中-公开
标题翻译：基于道路标记提取的在线车辆摄像机校准
公开(公告)号：WO2012139660A1
公开(公告)日：2012-10-18
申请号：PCT/EP2011/056032
申请日：2011-04-15
申请人： Connaught Electronics Limited , Application Solutions (Electronics and Vision) Limited , FRIEL, Myles , SAVAGE, Derek Anthony , HUGHES, Ciaran , BONE, Peter
发明人： FRIEL, Myles , SAVAGE, Derek Anthony , HUGHES, Ciaran , BONE, Peter
IPC分类号： G06T7/00
CPC分类号： G06T7/80 , G06T2207/30252
摘要： The invention relates to a method for online calibration of a vehicle video system evaluated from image frames of a camera containing longitudinal road features. A portion of a road surface is captured by the camera in an image frame. An identification of longitudinal road features within the image frame is performed. Points are extracted along the identified longitudinal road features to be transformed to a virtual road plan view via a perspective mapping taking into account prior known parameters of the camera. The transformed extracted points are analysed with respect to the vehicle by determining a possible deviation of the points from a line parallel to the vehicle while any measured deviation being used to define an offset correction of the camera.
摘要翻译：本发明涉及一种用于在包含纵向道路特征的照相机的图像帧中评估的车辆视频系统的在线校准方法。路面的一部分被照相机拍摄在图像框架中。执行图像帧内的纵向道路特征的识别。根据所识别的纵向道路特征提取点，通过考虑到相机的先前已知参数的透视映射将其变换为虚拟道路平面图。通过确定点与平行于车辆的线的可能偏差，而使用任何测量偏差来定义相机的偏移校正，分析相对于车辆的变换的提取点。

2. 发明申请

WO2012139636A1 ONLINE VEHICLE CAMERA CALIBRATION BASED ON ROAD SURFACE TEXTURE TRACKING AND GEOMETRIC PROPERTIES 审中-公开
标题翻译：基于道路表面纹理跟踪和几何属性的在线车辆相机校准
公开(公告)号：WO2012139636A1
公开(公告)日：2012-10-18
申请号：PCT/EP2011/055789
申请日：2011-04-13
申请人： CONNAUGHT ELECTRONICS LIMITED , APPLICATION SOLUTIONS (ELECTRONICS AND VISION) LIMITED , FRIEL, Myles , SAVAGE, Derek Anthony , HUGHES, Ciaran , ERMILIOS, Pantelis
发明人： FRIEL, Myles , SAVAGE, Derek Anthony , HUGHES, Ciaran , ERMILIOS, Pantelis
IPC分类号： G06T7/00
CPC分类号： G06T7/80 , G06T2207/30248
摘要： The invention relates to a method for online calibration of a vehicle video system evaluated from image frames of a camera containing features on the road. A portion of a road surface is captured by the camera in an image frame. A selection of at least two different features within the image frame is taken, the selected features being chosen as respective reference points. A sequence of at least one more image frame is performed with the camera while locating within the new frame the features chosen as reference points to be tracked. Analysing in a virtual image space the trajectory covered by the reference points during driving interval between image sequence by identifying a geometrical shape obtained by joining the located reference points between each other in each used images and considering the respective trajectories. A deviation of the resulting geometrical object from a parallelogram with corners defined by the reference points from at least two subsequent images is calculated while any measured deviation being used to define an offset correction of the camera.
摘要翻译：本发明涉及一种用于在包含道路上的特征的照相机的图像帧中评估的车辆视频系统的在线校准方法。路面的一部分被照相机拍摄在图像框架中。在图像帧内选择至少两个不同的特征，所选择的特征被选择为相应的参考点。在照相机中执行至少一个更多图像帧的序列，同时在新帧内定位要被追踪的参考点的特征。在虚拟图像空间中，通过识别通过在每个使用的图像中连接彼此之间的位置参考点并考虑各个轨迹而获得的几何形状，在图像序列之间的驱动间隔期间，分析由参考点覆盖的轨迹。计算所得到的几何对象与来自至少两个后续图像的参考点限定的角度的平行四边形的偏差，而使用任何测量偏差来定义相机的偏移校正。

3. 发明申请

WO2015071162A1 METHOD FOR RECOGNIZING A COVERED STATE OF A CAMERA, CAMERA SYSTEM AND MOTOR VEHICLE 审中-公开
标题翻译：用于识别摄像机，摄像机系统和电动车辆的覆盖状态的方法
公开(公告)号：WO2015071162A1
公开(公告)日：2015-05-21
申请号：PCT/EP2014/073898
申请日：2014-11-06
申请人： APPLICATION SOLUTIONS (ELECTRONICS AND VISION) LIMITED , CONNAUGHT ELECTRONICS LIMITED
发明人： VOROS, Robert , HUGHES, Ciaran , YADAV, Dev
IPC分类号： G06T7/00 , G06K9/00
CPC分类号： G06T7/0002 , G06K9/00791 , G06T7/0004 , G06T2207/30168 , G06T2207/30252 , H04N7/18 , H04N17/002
摘要： The invention relates to a method for recognizing a covered state of a camera (4) of a motor vehicle (1) by providing an image of an environmental region of the motor vehicle (1) by means of the camera (4), determining respective brightness values of pixels within at least one image region of the image, determining a number of pixels within the at least one image region, which satisfy a preset criterion with respect to the brightness values, and checking whether the camera (4) is covered or not covered depending on the number.
摘要翻译：本发明涉及通过借助照相机（4）提供机动车辆（1）的环境区域的图像来识别机动车辆（1）的照相机（4）的被覆盖状态的方法，确定图像的至少一个图像区域内的像素的亮度值，确定满足相对于亮度值的预设标准的至少一个图像区域内的像素的数量，以及检查照相机（4）是否被覆盖，或者不覆盖取决于数量。

4. 发明申请

WO2017207522A1 METHOD FOR ASSISTING A DRIVER OF A VEHICLE/TRAILER COMBINATION IN MANEUVERING THE VEHICLE/TRAILER COMBINATION, DRIVER ASSISTANCE SYSTEM AS WELL AS MOTOR VEHICLE 审中-公开
标题翻译：在驾驶车辆/拖车组合，驾驶员辅助系统以及机动车辆中辅助车辆/拖车组合的驾驶员的方法
公开(公告)号：WO2017207522A1
公开(公告)日：2017-12-07
申请号：PCT/EP2017/062958
申请日：2017-05-30
申请人： CONNAUGHT ELECTRONICS LIMITED
发明人： NEWELL, Martin
IPC分类号： B62D13/06 , B60C23/00 , B60P1/44 , B60R1/00 , B60R11/04
摘要： The invention relates to a method for assisting a driver of a vehicle/trailer combination (1) having a motor vehicle (2) and a trailer (4) in maneuvering the vehicle/trailer combination (1), wherein image data of a rear environmental region (12) of the vehicle/trailer combination (1) is captured by means of a rearward looking vehicle-side camera (6) and/or a rearward looking trailer-side camera (7), an image (B) of the rear environmental region (12) is created depending on the captured image data and displayed on a vehicle-side display device (14), wherein a position (20) of a part (15) of the trailer (4) movable between a stowage position and a use position is determined in the image (B), which is occupied by the part (15) by moving the part (15) from the stowage position into the use position increasing at least one geometric dimension (19) of the trailer (4), and a mark (M1 ) is displayed in this position (20) in the image (B) on the display device (14). The invention additionally relates to a driver assistance system (5) as well as to a motor vehicle (2).
摘要翻译：本发明涉及一种辅助车辆/拖车组合（1）的驾驶员的方法，该组合（1）具有机动车辆（2）和拖车（4）以操纵车辆/拖车组合（1）其中，借助后视车辆侧摄像机（6）和/或后视侧视摄像机（7）捕获车辆/拖车组合（1）的后部环境区域（12）的图像数据，根据所拍摄的图像数据创建后环境区域（12）的图像（B）并显示在车辆侧显示装置（14）上，其中拖车的部件（15）的位置（20）（15）从收起位置移动到使用位置的图像（B）中确定可在收起位置和使用位置之间移动的至少一个几何尺寸（14）的图像（B）的该位置（20）中显示标记（M1）。本发明还涉及驾驶员辅助系统（5）以及机动车辆（2）。

5. 发明申请

WO2012143036A1 ONLINE VEHICLE CAMERA CALIBRATION BASED ON CONTINUITY OF FEATURES 审中-公开
标题翻译：基于特征连续性的在线车辆相机校准
公开(公告)号：WO2012143036A1
公开(公告)日：2012-10-26
申请号：PCT/EP2011/056107
申请日：2011-04-18
申请人： CONNAUGHT ELECTRONICS LIMITED , APPLICATION SOLUTIONS (Electronics and Vision) LIMITED , FRIEL, Myles , SAVAGE, Derek Anthony , HUGHES, Ciaran , BONE, Peter
发明人： FRIEL, Myles , SAVAGE, Derek Anthony , HUGHES, Ciaran , BONE, Peter
IPC分类号： G06T7/00
CPC分类号： G06T7/80 , G06T2207/10016 , G06T2207/30256 , G06T2207/30264
摘要： The invention relates to a method for online calibration of a vehicle video system evaluated from image frames containing longitudinal road features. Adjacent portions of a road surface are captured by at least two cameras of the vehicle video system. Longitudinal road features are identified within the image frames. Identified longitudinal road features are selected within at least two image frames respectively taken by two cameras as matching a single line between the two image frames. An analysis of the matching of the single line is performed by determining an offset of the line between the two image frames. The consequently determined offset of the line is applied for a calibration of the cameras of the vehicle video system.
摘要翻译：本发明涉及一种用于在包含纵向道路特征的图像帧中评估的车辆视频系统的在线校准方法。道路表面的相邻部分由车辆视频系统的至少两个照相机捕获。纵向道路特征在图像帧内被识别。在由两个摄像机分别拍摄的至少两个图像帧中选择识别的纵向道路特征，以匹配两个图像帧之间的单个线。通过确定两个图像帧之间的线的偏移来执行单行匹配的分析。由此确定线路的偏移被应用于车辆视频系统的相机的校准。

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