METHOD FOR DETERMINING MUTUALLY CORRESPONDING PIXELS, SoC FOR CARRYING OUT THE METHOD, CAMERA SYSTEM INCLUDING THE SoC, CONTROL UNIT AND VEHICLE

A method for continuously determining mutually corresponding pixels between a first camera image and a second camera image, comprising the following steps:

• recording the first camera image;
• recording the second camera image;
• ascertaining, per clock cycle of a predefined clock frequency, at least one first signature matrix element having first coordinates of a first signature matrix as a function of the first camera image, the ascertained signature value of the first signature matrix element representing in each case surroundings of a pixel of the first camera image;
• assigning the first coordinates of each of the clock cycles to the ascertained signature value of the first signature matrix element in a signature value position table;
• ascertaining, per clock cycle of the predefined clock frequency, 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, the ascertained signature value of the second signature matrix element representing surroundings of a pixel of the second camera image;
• determining at least one element of a correspondence matrix as a function of the signature value position table of the signature value of the cyclically ascertained second signature matrix element and of the second coordinates of the second signature matrix element;
• and
• ascertaining, per clock cycle of the predefined clock frequency, at least one concatenation matrix element of a concatenation matrix as a function of the first signature matrix and of the signature value position table;
• wherein the determining of the at least one element of the correspondence matrix is also as a function of the ascertained concatenation matrix, as a function of the first camera image, and as a function of the second camera image.

An SoC configured to:

• record a first camera image;
• record a second camera image;
• determine at least one correspondence matrix as a function of the recorded first camera image and of the recorded second camera image;
• and
• generate an output signal as a function of the determined correspondence matrix, the output signal representing, in particular, an optical flow vector between the first and the second camera image.

A camera system, comprising:

• at least one camera configured to record a first camera image and a second camera image continuously or at a predefined recording rate;
• and
• an SoC configured to:
• determine at least one correspondence matrix as a function of the recorded first camera image and of the recorded second camera image;
• and
• generate an output signal as a function of the determined correspondence matrix, the output signal representing, in particular, an optical flow vector between the first and the second camera image.

A control unit configured to continuously determining mutually corresponding pixels between a first camera image and a second camera image, the control unit configured to:

• record the first camera image;
• record the second camera image;
• ascertain, per clock cycle of a predefined clock frequency, at least one first signature matrix element having first coordinates of a first signature matrix as a function of the first camera image, the ascertained signature value of the first signature matrix element representing in each case surroundings of a pixel of the first camera image;
• assign the first coordinates of each of the clock cycles to the ascertained signature value of the first signature matrix element in a signature value position table;
• ascertain, per clock cycle of the predefined clock frequency, 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, the ascertained signature value of the second signature matrix element representing surroundings of a pixel of the second camera image;
• determine at least one element of a correspondence matrix as a function of the signature value position table of the signature value of the cyclically ascertained second signature matrix element and of the second coordinates of the second signature matrix element;
• and
• ascertain, per clock cycle of the predefined clock frequency, at least one concatenation matrix element of a concatenation matrix as a function of the first signature matrix and of the signature value position table;
• wherein the determination of the at least one element of the correspondence matrix is also as a function of the ascertained concatenation matrix, as a function of the first camera image, and as a function of the second camera image.

A vehicle including a camera system, the camera system comprising:

• at least one camera configured to record a first camera image and a second camera image continuously or at a predefined recording rate;
• and
• an SoC configured to:
• determine at least one correspondence matrix as a function of the recorded first camera image and of the recorded second camera image;
• and
• generate an output signal as a function of the determined correspondence matrix, the output signal representing, in particular, an optical flow vector between the first and the second camera image.