3-D environment sensing by means of projector and camera modules

Patent metadata

Field	Value
Publication number	US-11073379-B2
Application number	US-201816766070-A
Country	US
Kind code	B2
Filing date	Oct 19, 2018
Priority date	Dec 14, 2017
Publication date	Jul 27, 2021
Grant date	Jul 27, 2021

Abstract

A camera device for a vehicle for 3-D environment sensing includes at least two camera modules having at least partly overlapping sensing ranges, a camera control unit, an evaluation unit and a point light projector. The point light projector is arranged and configured in such a way that the point light projector projects a light pattern of measurement points into the vehicle environment. The at least two camera modules are arranged and configured in such a way that at least part of the projected light pattern is imaged in the overlapping sensing range. The evaluation unit is configured to determine the 3-D position of measurement points in the vehicle environment from image data captured with the at least two camera modules. The point light projector is configured to produce a series of “pseudo-noise patterns” as the light pattern, the “pseudo-noise patterns” being projected into the vehicle environment in temporal succession.

First claim

The invention claimed is:

1. A camera device for a vehicle, comprising:
at least two camera modules having at least partly overlapping sensing ranges;
a camera control unit;
an evaluation unit; and
a point light projector,
the point light projector being arranged and configured in such a way that the point light projector projects a light pattern of measurement light points into an environment of the vehicle,
the at least two camera modules being arranged and configured in such a way that at least part of the projected light pattern is imaged in the overlapping sensing range,
the evaluation unit being configured to determine a 3-D position of measurement light points in the vehicle environment from image data captured with the at least two camera modules, and
the point light projector being configured to produce a series of “pseudo-noise patterns”, which are projected into the vehicle environment in temporal succession, as the light pattern,
wherein the point light projector is configured to produce the series of “pseudo-noise patterns” in the temporal succession such that each environmental position located in the overlapping sensing range is illuminated at least once by one of the measurement light points of the light pattern within a predetermined period of time.

2. A camera device for a vehicle, comprising:
at least two camera modules having at least partly overlapping sensing ranges;
a camera control unit;
an evaluation unit; and
a point light projector,
the point light projector being arranged and configured in such a way that the point light projector projects a light pattern of measurement light points into an environment of the vehicle,
the at least two camera modules being arranged and configured in such a way that at least part of the projected light pattern is imaged in the overlapping sensing range,
the evaluation unit being configured to determine a 3-D position of measurement light points in the vehicle environment from image data captured with the at least two camera modules, and
the point light projector being configured to produce a series of “pseudo-noise patterns”, which are projected into the vehicle environment in temporal succession, as the light pattern,
wherein the point light projector is configured to produce the series of “pseudo-noise patterns” using a predetermined distance between neighboring illuminable measurement light points of the light pattern, the predetermined distance based the size of a correlation mask used by the evaluation unit in order to determine the 3-D position from the captured image data.

3. The camera device according to claim 1 , wherein headlamps of the vehicle are used as the point light projector, and wherein lighting elements of the headlamps are arranged in matrix form and are adapted for individual activation.

4. The camera device according to claim 3 , wherein the headlamps are configured in such a way that the point lights are changed in quick succession such that a uniform light distribution of a standard headlamp is produced for the driver.

5. The camera device according to claim 1 , wherein the evaluation unit is configured to determine a 3-D reconstruction of the vehicle environment by superimposing 3-D measurements from the measurement light points of the light pattern captured with the camera modules in temporal succession.

6. The camera device according to claim 1 , wherein the two camera modules are rigidly connected to one another and are elements of a stereo camera with parallel optical axes.

7. The camera device according to claim 1 , wherein the camera device is designed in such a way that at least two camera modules are fastened at different positions in or on the vehicle, as elements of a surround view camera system which provides an optical 360 degree sensing of the environment of the vehicle.

8. The camera device according to claim 1 , wherein the camera device is configured to perform an installation location calibration of the camera modules by projecting the points of light onto a planar surface.

9. A method for spatial sensing of an environment of a vehicle by at least two camera modules having at least partly overlapping sensing ranges and a point light projector, the method comprising:
projecting from the point light projector a light pattern of measurement light points into an environment of the vehicle,
at least part of the projected light pattern being imaged in the overlapping sensing range of the at least two camera modules,
determining the 3-D position of measurement light points in the vehicle environment from image data captured with the at least two camera modules, and
a series of “pseudo-noise patterns”, which are emitted into the vehicle environment in temporal succession, being produced as the light pattern,
wherein the point light projector is configured to produce the series of “pseudo-noise patterns” in the temporal succession such that each environmental position located in the overlapping sensing range is illuminated at least once by one of the measurement light points of the light pattern within a predetermined period of time.

Assignees

• Conti Temic Microelectronic Gmbh

Inventors

• Heinrich Stefan
• Massen Joachim
• Krökel Dieter
• Fechner Thomas

Classifications

• G01B11/2513 Primary

  with several lines being projected in more than one direction, e.g. grids, patterns · CPC title

• H04N13/239

  using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) · CPC title

• H04N13/254

  in combination with electromagnetic radiation sources for illuminating objects · CPC title

• H04N2013/0081

  Depth or disparity estimation from stereoscopic image signals · CPC title

• G01B11/2545

  with one projection direction and several detection directions, e.g. stereo · CPC title