# US 10,311,310 B2 · Method and apparatus for providing increased obstacle visibility

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- Number: US 10,311,310 B2
- Document ID: US10311310B2
- Status: Granted
- Kind: B2
- Application number: 15/613,929
- Filed: 2017-06-05
- Published: 2017-09-21
- Granted: 2019-06-04
- Earliest claimed: 2014-12-04
- Assignees: Conti Temic microelectronic GmbH
- Applicants: Conti Temic microelectronic GmbH
- Inventors: Sudhan Dhana Sekaran; Markus Friebe
- Web page: https://patentgrep.com/patent/US10311310B2

## CPC

- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- G06F 18/251: {of input or preprocessed data}
- G06F 18/253: {of extracted features}
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## Abstract

A surround view system includes at least at least one camera pair formed by two cameras with overlapping fields of view adapted to generate camera images with an overlapping area. The system also includes and a processing unit configured to compute surround view images including overlapping areas with respect to each camera and to extract features from the computed surround view images resulting in binary images for each overlapping area. Priority in visualization is given to the camera image of the overlapping area generated by the camera of the respective camera pair where a calculated sum of binary values within the resulting binary image is highest.

## Claims

### Claim 1

A surround view system comprising:
at least one camera pair formed by two cameras with overlapping fields of view adapted to generate camera images with an overlapping area; and
a processing unit configured to compute surround view images including overlapping areas with respect to each camera and to extract at least one edge from the computed surround view images resulting in a pair of binary images for each overlapping area, wherein each edge is represented in each binary image with a logical binary value of 1;
wherein priority in visualization is given to the camera image of the overlapping area, generated by the camera of the respective camera pair where a calculated sum of the binary values within the resulting binary image is highest of the calculated sums of binary values of the pair of binary images.

### Claim 2 (depends on 1)

The surround view system according to claim 1, wherein the camera image of the overlapping area generated by the camera of said camera pair resulting in the binary image with the highest sum of binary values of the pair of binary images is selected by said processing unit for visualization.

### Claim 3 (depends on 2)

The surround view system according to claim 2, wherein the camera images generated by a camera of said pair of cameras selected by the processing unit are displayed on a display.

### Claim 4 (depends on 1)

The surround view system according to claim 1, wherein the field of view of each camera is greater than 180 degrees.

### Claim 5 (depends on 1)

The surround view system according to claim 1, wherein the processing unit is adapted to calculate the surround view images in real time from camera images captured by the cameras.

### Claim 6 (depends on 1)

The surround view system according to claim 1, wherein said surround view system comprises at least four vehicle cameras mounted at different sides of a vehicle's chassis.

### Claim 7

A method for providing increased obstacle visibility comprising:
generating camera images with overlapping areas by at least one pair of cameras formed by two cameras with overlapping fields of view;
computing surround view images including the overlapping areas on the basis of the generated camera images;
extracting edges from the computed surround view image resulting in a pair of binary images for each overlapping area where each edge is represented in each binary image with logical binary values of 1;
summing up the binary values within the binary images and comparing the calculated sums with each other;
displaying the computed surround view image, wherein in each included overlapping area priority in visualization is given to the camera image resulting in the binary image having the highest calculated sum of binary values of the calculated sums of binary values of the pair of binary images.

### Claim 8 (depends on 7)

The method according to claim 7, further comprising selecting the camera image of the overlapping area generated by the camera of the camera pair resulting in the binary image with the higher calculated sum of binary values of the calculated sums of binary values of the pair of binary images from the two camera images for visualization.

### Claim 9 (depends on 7)

The method according to claim 7, wherein the steps are performed in real time.