Vision system for a motor vehicle and method of controlling a vision system

Patent metadata

Field	Value
Publication number	US-10706589-B2
Application number	US-201615780556-A
Country	US
Kind code	B2
Filing date	Dec 2, 2016
Priority date	Dec 4, 2015
Publication date	Jul 7, 2020
Grant date	Jul 7, 2020

Abstract

A motor vehicle vision system ( 10 ) includes a pair of imaging devices ( 12 a, 12 b ) forming a stereo imaging apparatus ( 11 ) and a data processing apparatus ( 14 ) for rectification of images captured by the stereo imaging apparatus ( 11 ), matching of rectified images, and to detect an object in the surrounding of the motor vehicle. The data processing device ( 14 ) performs, for image elements ( 43 ) of a rectified image from one imaging device, a search for a best-matching image element ( 44 ′) in the corresponding rectified image from the other imaging device. The search yielding vertical shift information from which a vertical shift from the image element ( 43 ) to the best-matching image element ( 44 ′) is derivable. The data processing device ( 14 ) calculates a pitch angle error and/or a roll angle error of or between the imaging devices ( 12 a, 12 b ) from the vertical shift information.

First claim

The invention claimed is:

1. A vision system for a motor vehicle, comprising a pair of imaging devices forming a stereo imaging apparatus and a data processing device adapted to perform a rectification of images captured by the stereo imaging apparatus, a stereo matching of rectified images to produce stereo matched images, and to detect an object in an area surrounding the motor vehicle from the stereo matched images, the data processing device is adapted to perform, for image elements of a rectified image from one of the imaging devices, a search for a best-matching image element in a rectified image from the other of the imaging devices, the search covering a two-dimensional search area, the search yielding vertical shift information from which a vertical shift from an image element to the best-matching image element is derivable, wherein the vertical shift information comprises a plurality of match related scores indicating a degree of match in the vertical shift information from one of the imaging devices between the image element and a plurality of image elements of a corresponding image from the other of the imaging devices shifted with different vertical components relative to the image element from one of the imaging devices, yielding a vertical matching cost cube, the plurality of the image elements from the imaging devices are bundled into larger image regions and for each vertical shift the match related scores from each image element in the image regions are accumulated, yielding a reduced size version of the matching cost cube, wherein the data processing device is adapted to calculate a pitch angle error or a roll angle error of or between the imaging devices from the vertical shift information.

2. The vision system as claimed in claim 1 , further comprising in that the vertical shift giving the best match for each of the image regions is determined from the reduced size version of the matching cost cube, yielding a vertical shift map.

3. The vision system as claimed in claim 1 , further comprising in that the data processing device is adapted to calculate a focal length difference between both of the imaging devices from the vertical shift information.

4. The vision system as claimed in claim 1 , in that the vertical shift information comprises a vector from the image element of one of the imaging devices to the best matching image element in the corresponding rectified image from the other of the imaging devices.

5. The vision system as claimed in claim 4 , further comprising in that a vertical shift map is derived from the vertical components of the vectors.

6. The vision system as claimed in claim 2 further comprising in that a pitch error and a roll error are computed from the shift map simultaneously using a minimization function.

7. The vision system as claimed in claim 1 , further comprising in that the search is performed using a one-dimensional horizontal search engine and performing a plurality of one-dimensional horizontal searches shifted by different amounts relative to each other in the vertical direction.

8. The vision system as claimed in claim 7 , further comprising in that the one-dimensional horizontal search engine is used for performing the stereo matching process and the search non-simultaneously via time sharing.

9. The vision system as claimed in claim 8 , further comprising in that the search is performed in idle time slots of, or in alternating time slots with, the stereo matching process.

10. The vision system as claimed in claim 1 , further comprising in that the search is performed using a two-dimensional search engine, employing an algorithm capable of performing optical flow calculations.

11. The vision system as claimed in claim 1 , further comprising in that the calculated pitch angle error or the roll angle error is used in a later rectification or a stereo matching processes.

12. A vision method for a motor vehicle, using a pair of imaging devices forming a stereo imaging apparatus, the method comprising, rectifying images captured by the stereo imaging apparatus, a stereo matching of rectified images, and detecting an object in an area surrounding the motor vehicle from the stereo matched images, performing for image elements of a rectified image from one of the imaging devices, a search for a best-matching image element in a corresponding rectified image from the other of the imaging devices, the search covering a two-dimensional search area, the search yielding vertical shift information from which a vertical shift from an image element to the best-matching image element is derivable, wherein the vertical shift information comprises a plurality of match related scores indicating a degree of match in the vertical shift information from one of the imaging devices between the image element and a plurality of image elements of a corresponding image from the other of the imaging devices shifted with different vertical components relative to the image element from one of the imaging devices, producing a vertical matching cost cube, bundling the plurality of the image elements from the imaging devices into larger image regions and for each vertical shift, accumulating the match related scores from each image element in the image regions, yielding a reduced size version of the matching cost cube, and calculating a pitch angle error or a roll angle error of or between the imaging devices from the vertical shift information.

Assignees

• Veoneer Sweden Ab

Inventors

• Lindgren Leif

Classifications

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• G06T7/231

  using full search · CPC title

• G06T7/85 Primary

  Stereo camera calibration · CPC title

• G06T2207/10012

  Stereo images · CPC title