Method and system for detecting an elevated object situated within a parking facility
AssigneeRobert Bosch GmbH
InventorsFelix Hess, Andreas Lehn, Stefan Nordbruch
Life of this patent
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Abstract
A method for detecting an elevated object situated within a parking facility, using at least two video cameras that are spatially distributed within the parking facility and whose visual ranges overlap in an overlap area. The method encompasses the following: recording particular video images of the overlap area with the aid of the video cameras; analyzing the recorded video images in order to detect an elevated object in the recorded video images, and ascertaining, based on the recorded video images, whether in the detection of an elevated object the detected elevated object is real. A corresponding system, a parking facility, and a computer program are also provided.
Claims11
A method for detecting an elevated object situated within a parking facility, using at least two video cameras that are spatially distributed within the parking facility and whose visual ranges overlap in an overlap area, the method comprising:
- a) recording particular video images of the overlap area using the video cameras, wherein the video images of the at least two video cameras are recorded in chronological succession to determine whether or not a detected elevated object is real;
- b) analyzing the recorded video images to detect the elevated object in the recorded video images;
- and
- c) ascertaining, based on the recorded video images, whether in the detection of the elevated object the detected elevated object is real, and at which location in the video images, the detected elevated object moves into the particular video image and/or moves out of the particular video image, wherein it is determined that the detected elevated object is real when the detected object moves into the particular video image at an edge of the video image, and/or moves out of the particular video image at the edge of the video image, and it is determined that the detected elevated object is not real when the detected object appears within the video image or disappears within the video image without having crossed the edge of the video image;
- wherein for detecting the elevated object in the recorded video images, the following steps are provided according to the analysis according to step b):
- rectifying the recorded video images by at least transforming the recorded video images into a bird's-eye view;
- comparing the particular rectified video images to one another in order to recognize a difference in the recorded overlap areas;
- and
- detecting the elevated object based on the comparison.
A system for detecting an elevated object situated within a parking facility, the system including at least two video cameras that are spatially distributed within the parking facility and whose visual ranges overlap in an overlap area, the system configured to:
- a) record particular video images of the overlap area using the video cameras, wherein the video images of the at least two video cameras are recorded in chronological succession to determine whether or not a detected elevated object is real;
- b) analyze the recorded video images to detect the elevated object in the recorded video images;
- and
- c) ascertain, based on the recorded video images, whether in the detection of an elevated object the detected elevated object is real, and at which location in the video images, the detected elevated object moves into the particular video image and/or moves out of the particular video image, wherein it is determined that the detected elevated object is real when the detected object moves into the particular video image at an edge of the video image, and/or moves out of the particular video image at the edge of the video image, and it is determined that the detected elevated object is not real when the detected object appears within the video image or disappears within the video image without having crossed the edge of the video image;
- wherein for detecting the elevated object in the recorded video images, the following steps are provided according to the analysis according to step b):
- rectifying the recorded video images by at least transforming the recorded video images into a bird's-eye view;
- comparing the particular rectified video images to one another in order to recognize a difference in the recorded overlap areas;
- and
- detecting the elevated object based on the comparison.
A parking facility that includes a system for detecting an elevated object situated within the parking facility, the system including at least two video cameras that are spatially distributed within the parking facility and whose visual ranges overlap in an overlap area, the system configured to:
- a) record particular video images of the overlap area using the video cameras, wherein the video images of the at least two video cameras are recorded in chronological succession to determine whether or not a detected elevated object is real;
- b) analyze the recorded video images to detect the elevated object in the recorded video images;
- and
- c) ascertain, based on the recorded video images, whether in the detection of the elevated object the detected elevated object is real, and at which location in the video images, the detected elevated object moves into the particular video image and/or moves out of the particular video image, wherein it is determined that the detected elevated object is real when the detected object moves into the particular video image at an edge of the video image, and/or moves out of the particular video image at the edge of the video image, and it is determined that the detected elevated object is not real when the detected object appears within the video image or disappears within the video image without having crossed the edge of the video image;
- wherein for detecting the elevated object in the recorded video images, the following steps are provided according to the analysis according to step b):
- rectifying the recorded video images by at least transforming the recorded video images into a bird's-eye view;
- comparing the particular rectified video images to one another in order to recognize a difference in the recorded overlap areas;
- and
- detecting the elevated object based on the comparison.
A non-transitory computer readable storage medium on which is stored a computer program that includes program code for detecting an elevated object situated within a parking facility, using at least two video cameras that are spatially distributed within the parking facility and whose visual ranges overlap in an overlap area, the computer program, when executed by a computer, causing the computer to perform:
- a) recording particular video images of the overlap area using the video cameras, wherein the video images of the at least two video cameras are recorded in chronological succession to determine whether or not a detected elevated object is real;
- b) analyzing the recorded video images to detect the elevated object in the recorded video images;
- and
- c) ascertaining, based on the recorded video images, whether in the detection of the elevated object the detected elevated object is real, and at which location in the video images, the detected elevated object moves into the particular video image and/or moves out of the particular video image, wherein it is determined that the detected elevated object is real when the detected object moves into the particular video image at an edge of the video image, and/or moves out of the particular video image at the edge of the video image, and it is determined that the detected elevated object is not real when the detected object appears within the video image or disappears within the video image without having crossed the edge of the video image;
- wherein for detecting the elevated object in the recorded video images, the following steps are provided according to the analysis according to step b):
- rectifying the recorded video images by at least transforming the recorded video images into a bird's-eye view;
- comparing the particular rectified video images to one another in order to recognize a difference in the recorded overlap areas;
- and
- detecting the elevated object based on the comparison.
Dependencies are inferred from the claim text.