公开(公告)号：US10789731B2

公开(公告)日：2020-09-29

申请号：US16084534

申请日：2017-03-10

Applicant: Connaught Electronics Ltd.

Inventor： Pantelis Ermilios ,  Bryan Mcnamara ,  William O'Grady ,  Myles Friel

IPC: G06T7/80 ,  G06T7/223 ,  G06T7/50 ,  G06K9/00

Abstract: The invention relates to a method for detecting an object (12) alongside a road (10) of a motor vehicle (1) based on at least two images (13) of an environmental region (9) of the motor vehicle (1) consecutively captured by at least one vehicle-side camera (4) for extrinsic calibration of the at least one camera (4), wherein the images (13) at least partially display a texture of a road surface (11) and wherein the following steps are performed: a) determining at least two mutually corresponding blocks (14) based on the at least two images (13); b) determining respective motion vectors for each of the at least two pairs of mutually corresponding blocks (14); c) determining a depth information concerning the at least two images (13) based on the at least two motion vectors; d) detecting the object (12) based on the depth information. The invention also relates to a computing device (3), a driver assistance system (2) as well as a motor vehicle (1).

公开(公告)号：US20190104278A1

公开(公告)日：2019-04-04

申请号：US16084512

申请日：2017-03-10

Applicant: Connaught Electronics Ltd.

Inventor： Pantelis Ermilios ,  Bryan Mcnamara ,  William O'Grady ,  Myles Friel

IPC: H04N7/01 ,  H04N5/14 ,  G06T7/231

CPC classification number: H04N7/014 ,  B60R2001/1253 ,  B60R2300/101 ,  B60R2300/102 ,  B60R2300/105 ,  B60R2300/303 ,  B60R2300/802 ,  G06T7/223 ,  G06T7/231 ,  G06T7/80 ,  G06T2207/10016 ,  G06T2207/20021 ,  G06T2207/30252 ,  H04N5/145

Abstract: The invention relates to a method for motion estimation between two images of an environmental region (9) of a motor vehicle (1) captured by a camera (4) of the motor vehicle (1), wherein the following steps are performed: a) determining at least two image areas of a first image as at least two first blocks (B) in the first image, b) for each first block (B), defining a respective search region in a second image for searching the respective search region in the second image for a second block (B) corresponding to the respective first block (B); c) determining a cost surface (18) for each first blocks (B) and its respective search region; d) determining an averaged cost surface (19) for one of the at least two first blocks (B) based on the cost surfaces (18); d) identifying a motion vector (v) for the one of the first blocks (B) describing a motion of a location of the first block (B) in the first image and the corresponding second block (B) in the second image. The invention also relates to a computing device (3), a driver assistance system (2) as well as a motor vehicle (1).

公开(公告)号：US20190080476A1

公开(公告)日：2019-03-14

申请号：US16084534

申请日：2017-03-10

Applicant: Connaught Electronics Ltd.

Inventor： Pantelis Ermilios ,  Bryan Mcnamara ,  William O'Grady ,  Myles Friel

IPC: G06T7/80 ,  G06T7/223 ,  G06T7/50 ,  G06K9/00

Abstract: The invention relates to a method for detecting an object (12) alongside a road (10) of a motor vehicle (1) based on at least two images (13) of an environmental region (9) of the motor vehicle (1) consecutively captured by at least one vehicle-side camera (4) for extrinsic calibration of the at least one camera (4), wherein the images (13) at least partially display a texture of a road surface (11) and wherein the following steps are performed: a) determining at least two mutually corresponding blocks (14) based on the at least two images (13); b) determining respective motion vectors for each of the at least two pairs of mutually corresponding blocks (14); c) determining a depth information concerning the at least two images (13) based on the at least two motion vectors; d) detecting the object (12) based on the depth information. The invention also relates to a computing device (3), a driver assistance system (2) as well as a motor vehicle (1).

公开(公告)号：US10567704B2

公开(公告)日：2020-02-18

申请号：US16084512

申请日：2017-03-10

Applicant: Connaught Electronics Ltd.

Inventor： Pantelis Ermilios ,  Bryan Mcnamara ,  William O'Grady ,  Myles Friel

IPC: G06T7/80 ,  G06T7/223 ,  G06T7/231 ,  H04N7/01 ,  H04N5/14 ,  B60R1/12

Abstract: The invention relates to a method for motion estimation between two images of an environmental region (9) of a motor vehicle (1) captured by a camera (4) of the motor vehicle (1), wherein the following steps are performed: a) determining at least two image areas of a first image as at least two first blocks (B) in the first image, b) for each first block (B), defining a respective search region in a second image for searching the respective search region in the second image for a second block (B) corresponding to the respective first block (B); c) determining a cost surface (18) for each first blocks (B) and its respective search region; d) determining an averaged cost surface (19) for one of the at least two first blocks (B) based on the cost surfaces (18); d) identifying a motion vector (v) for the one of the first blocks (B) describing a motion of a location of the first block (B) in the first image and the corresponding second block (B) in the second image. The invention also relates to a computing device (3), a driver assistance system (2) as well as a motor vehicle (1).

公开(公告)号：US20190080181A1

公开(公告)日：2019-03-14

申请号：US16084530

申请日：2017-03-13

Applicant: Connaught Electronics Ltd.

Inventor： Pantelis Ermilios ,  Bryan Mcnamara ,  William O'Grady ,  Myles Friel

IPC: G06K9/00 ,  G06T7/80 ,  B60R1/00

Abstract: The invention relates to a method for detecting a rolling shutter effect in images of an environmental region (9) of a motor vehicle (1) captured by an image sensor of at least one camera (4) of the motor vehicle (1) comprising a plurality of sensor lines (15), including the following steps: a) determining a first position (P1) on a sensor plane (13) of the image sensor corresponding to a feature (14) when capturing a first image and identifying a second position (P2) on the sensor plane (13) corresponding to the feature (14) when capturing a second image, b) determining a motion vector (v) characterizing a displacement of the feature (14) on the sensor plane (13) between the first position (P1) and the second position (P2), c) determining a vertical span (Δy) of the motion vector (v) characterizing a number of sensor lines (15) at least partially covered by the motion vector (v), d) detecting the rolling shutter effect based on the vertical span (Δy). I addition, the invention relates to a computing device (3), a driver assistance system (2) as well as a motor vehicle (1).