Robert Boschgmbh

Stephan Simon

Arne Zender

Henning Voelz

Werner Uhler

Brad Alan Ignaczak

Steffen Abraham

Annette Frederiksen

Roland Schmid

Volker Niemz

Wolfgang Niem

Wolfgang Niehsen

Michael Helmle

Gerrit De Boer

Florian Raisch

Jad Halimeh

Sebastian Lindner

Thomas Heger

Michael Huelsen

Jochen Wingbermuehle

Vilmos Szabo

Andreas Pfeil

Robert Lyons

Fernando Ortiz Cuesta

Beke Junge

Ulrich-Lorenz Benzler

Tobias Hanning

Markus Hueser

A method for providing calibration data for calibrating a camera. The method includes reading in image data provided by the camera from the camera. The image data represent a camera image of at least one predefined point-symmetric region. The method also includes determining at least one center of symmetry of the at least one point-symmetric region using the image data and a determination rule, performing a comparison of a position of the center of symmetry in the camera image with a predefined position of a reference center of symmetry in a reference image in order to determine a positional deviation between the center of symmetry and the reference center of symmetry, and ascertaining displacement information for at least a subset of pixels of the camera image relative to corresponding pixels of the reference image, using the positional deviation. The calibration data are provided using the displacement information.

Method for providing calibration data for calibrating a camera, method for calibrating a camera, method for producing at least one predefined point-symmetric region, and device

A method is disclosed for determining a position of a first image region in an image corresponding to a second image region in the image. The method comprises: providing the first image region comprising a reference position; providing the image; determining a plurality of signature values for different image positions in the first image region; assigning relative offsets of a plurality of image positions in the first image region to respectively determined signature values; determining a plurality of correspondence signature values to different image positions in the image; determining relative offsets relative to determined correspondence signature values with use of the assignment; calculating target positions by summing the relative offset and corresponding image position; incrementally assigning a weighting value to a calculated target position, thus forming an incremental weighting value; and determining the position of the first image region by finding an extremum in the incremental weighting values.

Method for determining the position of a first image region in a correspondence image, SOC and control device, and system for carrying out the method, and computer program

A method for evaluating images and, in particular, for evaluating correspondence hypotheses of images. The method includes (i) providing a hypothesis matrix of correspondence hypotheses between first and second images, each given as a corresponding image matrix, (ii) evaluating the hypothesis matrix and conditional verification of the image correspondence hypotheses and (iii) providing verified image correspondence hypotheses in a correspondence matrix of image correspondences as the evaluation result, the hypothesis matrix being evaluated by forming and evaluating a histogram with respect to the values of the component for each element of the hypothesis matrix for at least one component of correspondence hypotheses.

Method and device for evaluating images, operational assistance method and operating device

A method for continuously determining mutually corresponding pixels between a first camera image and a second camera image. The method includes recording the first camera image; recording the second camera image; ascertaining at least one first signature matrix element of a first signature matrix as a function of the first camera image; assigning first coordinates to an ascertained signature value of the first signature matrix element in a signature value position table; ascertaining at least one signature value of a second signature matrix element having second coordinates of a second signature matrix as a function of the second camera image; and determining at least one element of a correspondence matrix as a function of the signature value position table, of the cyclically ascertained signature value of the second signature matrix element and of the second coordinates of this second signature matrix element.

Method for determining mutually corresponding pixels, SoC for carrying out the method, camera system including the SoC, control unit and vehicle

A method for ascertaining/mapping between a matrix element (ME) and a comparison ME (CME) of a comparison matrix (CM), including writing the ME position in a table element (TE) of a correspondence table (CT) for a number of MEs, and following a predefined offset, reading out a TE, ascertaining the ME position stored in the TE until the read for the same number of MEs has been performed, establishing a mapping from the TE's read-out position and a CME's current position. The writing includes reading out a ME feature, ascertaining an access feature (AF) from the ME feature, ascertaining a TE of the CT from the AF, and writing the ME position in the ascertained TE. The reading includes reading out a CME feature, ascertaining an AF from the CME, ascertaining a TE of the CT from the AF, and reading out the ME's stored position from the ascertained TE.

Correspondence search between matrix elements

A method for evaluating images and in particular for evaluating correspondences of images. The method includes (i) providing correspondences between given first and second images, (ii) providing a quality measure or a plurality of quality measures as attributes for characterizing a particular correspondence, (iii) evaluating and conditionally selecting the correspondences, (iv) providing selected correspondences as an evaluation result, the evaluation of correspondences being based on a combination of attributes and the selection of correspondences being based on a result of the evaluation.

Method and device for evaluating images, operating assistance method, and operating device

A method and a device for checking the plausibility of a flow vector hypothesis includes ascertaining a prediction vector associated with a feature based on a movement of the feature between a first image and a second image that follows the first image in a sequence; generating a hypothesis vector that is associated with the feature and describes a presumed movement of the feature between the second image and a third image that follows the second image in the sequence; calculating a degree of similarity between the prediction vector and the hypothesis vector; and evaluating, based on the calculated degree of similarity, a plausibility of the hypothesis vector describing an actual movement of the feature between the second and third images.

Method and device for checking the plausibility of a flow vector hypothesis

In a method and apparatus for evaluating image segments for a correspondence calculation, an image signal is received from an image sensor and is evaluated in order to determine the extent to which, for a selected region of the image sensor, noise caused by the image sensor is present; and a resultant evaluation parameter, for an image segment of an image acquired by the image sensor, which describes whether the image segment is suitable for a correspondence calculation, is ascertained. The image segment corresponding to the selected region of the image sensor and the resultant evaluation parameter are ascertained based on the determined extent of the noise.

Method and device for analyzing image sections for a correspondence calculation

A method in a training phase includes acquiring a first image of an environment of a means of locomotion from a first position, using an optical sensor; acquiring a second image of the environment of the means of locomotion from a second position, differing from the first position, using the optical sensor; ascertaining features that represent the first image and ascertaining features that represent the second image using an algorithm for feature extraction; selecting those features of the first and the second image which do not meet a predefined rating criterion; and ascertaining significant similarities between the selected features of the first and the second image and storing references that represent the significant similarities. A method is performed in an execution phase that makes use of the stored features of the training phase.

Method and apparatus for data reduction of feature-based environment information of a driver assistance system

A method for processing image data. The method includes a step of determining correspondence data as the result of a correspondence generation between first image data that represent data recorded by a camera at a first point in time, and preceding image data that represent data recorded by the camera at a preceding point in time. In a step of determining, depth data are determined on the basis of an ego-motion estimate carried out using the correspondence data. In a step of ascertaining, fusion data are ascertained using the depth data and the transferred fusion data, the fusion data including an item of depth information based on the image data.

Method and device for processing image data, and driver-assistance system for a vehicle

A method for determining an ego-motion of a vehicle is described, which is carried out in driver assistance systems, particularly in parking assistance systems. The method involves: taking a sequence of images, successive in time of a vehicle surroundings by a vehicle camera; determining, based on the image sequence, at least one motion flow with regard to an object in the vehicle surroundings; and determining the ego-motion of the vehicle based on the at least one motion flow.

Method and system for determining an ego-motion of a vehicle

A method for recognizing directional structures on a window pane of a vehicle is described. The method includes carrying out an assessment of image points of an image of the window pane, which image points are disposed along an evaluation path, a course of the evaluation path being dependent on an expected orientation of the directional structures on the window pane. The method further includes recognizing a directional structure based on the assessment.

Method and apparatus for recognizing directional structures on a window pane of a vehicle

A method for assisting a driver in lane guidance of a vehicle on a roadway includes: displaying a recorded image to the driver on a display unit, which image represents the vehicle surroundings; reading in an operating signal input on a user interface by the driver; selecting an object contained in the image, using the operating signal; displaying a mark on the display unit, the mark being displayed in an area of the image which represents the object; using the object for determining at least one longitudinal control parameter for a driving route to be traveled by the vehicle in order to assist the driver in lane guidance.

Method and device for assisting a driver in lane guidance of a vehicle on a roadway

A method for determining an item of control information for displaying a driving condition of a vehicle with the aid of a display unit includes: an ascertainment of the safe driving condition of the vehicle, in which no risk of a collision with an object exists; an ascertainment of a prevailing driving condition of the vehicle in relation to the safe driving condition is carried out; a determination of the item of control information for activating the display unit based on the safe driving condition and the prevailing driving condition, the item of control information causing a display of an item of information about the prevailing driving condition in relation to an item of information about the safe driving condition by the display unit.

Method and display unit for displaying a driving condition of a vehicle and corresponding computer program product

A circular saw including a saw blade () which may be rotatingly driven about a rotational axis, and at least one first splitting wedge is described. The circular saw is configured so that the first splitting wedge is movable relative to the rotational axis of the saw blade.

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Sibbesse, Germany

Stephan Simon