# US 2023/0410531 A1 · Determining Correctness of Image Data of Camera System > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0410531 A1 - Document ID: US20230410531A1 - Status: Published application - Kind: A1 - Application number: 18/027,656 - Filed: 2020-09-23 - Published: 2023-12-21 - Earliest claimed: 2020-09-23 - Assignees: Bayerische Motoren Werke Aktiengesellschaft - Applicants: Bayerische Motoren Werke Aktiengesellschaft - Inventors: Mohamed-Saad ABDELHAMEED; Manjeet Singh BILRA - Web page: https://patentgrep.com/patent/US20230410531A1 ## CPC - 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 10/80: Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level (multimodal speaker identification or verification G10L17/10) - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Provided is a method for determining a correctness of image data, the image data being captured by at least two cameras of a camera system installed at a vehicle. The method includes detecting at least one feature in the image data captured by a first one of the at least two cameras, determining if the at least one feature can be detected in the image data captured by a second one of the at least two cameras, and if the at least one feature can be detected in the image data captured by the second one of the at least two cameras, determining the correctness of the image data. ## Claims ### Claim at position 1 1-10. (canceled) ### Claim 11 A method for determining a correctness of image data, the image data being captured by at least two cameras of a camera system installed at a vehicle, the method comprising: detecting at least one feature in the image data captured by a first one of the at least two cameras; determining whether the at least one feature is detectable in the image data captured by a second one of the at least two cameras; and upon determining that the at least one feature is detectable in the image data captured by the second one of the at least two cameras, determining the correctness of the image data. ### Claim 12 (depends on 11) The method according to claim 11, wherein the image data are captured at a same time by the first one of the at least two cameras and the second one of the at least two cameras. ### Claim 13 (depends on 11) The method according to claim 11, wherein: the at least two cameras comprise an at least partly overlapping field of view; and only a part of the image data captured by the first one of the at least two cameras is used for detecting the at least one feature which corresponds to an area where a field of view of the first one of the at least two cameras overlaps with a field of view of the second one of the at least two cameras. ### Claim 14 (depends on 11) The method according to claim 11, wherein the at least one feature is at least one of a lane, a lane boundary, an object, or an obstacle. ### Claim 15 A control unit comprising a processor, wherein the control unit is configured to: receive image data, the image data being captured by at least two cameras of a camera system installed at a vehicle; detect at least one feature in the image data captured by a first one of the at least two cameras; determine whether the at least one feature is detectable in the image data captured by a second one of the at least two cameras; and upon determining that the at least one feature is detectable in the image data captured by the second one of the at least two cameras, determine the correctness of the image data. ### Claim 16 (depends on 15) The control unit according to claim 15, wherein the control unit is further configured to output the camera data with a safety integrity level of ASIL B or higher. ### Claim 17 (depends on 15) The control unit according to claim 15, wherein the image data are captured at a same time by the first one of the at least two cameras and the second one of the at least two cameras. ### Claim 18 (depends on 17) The control unit according to claim 17, wherein the control unit is further configured to fuse image data captured by the first one of the at least two cameras and the second one of the at least two cameras. ### Claim 19 (depends on 18) The control unit according to claim 18, wherein the control unit is further configured to fuse the image data captured by the first one of the at least two cameras and the second one of the at least two cameras with respect to the at least one feature such that the at least one feature reaches a higher safety integrity level than before fusing. ### Claim 20 (depends on 15) The control unit according to claim 15, wherein: the at least two cameras comprise an at least partly overlapping field of view, and the control unit is configured to only use a part of the image data captured by the first one of the at least two cameras for detecting the at least one feature which corresponds to an area where a field of view of the first one of the at least two cameras overlaps with a field of view of the second one of the at least two cameras. ### Claim 21 (depends on 15) The control unit according to claim 15, wherein the at least one feature is at least one of a lane, a lane boundary, an object, or an obstacle. ### Claim 22 (depends on 15) A control system comprising: a camera system for a vehicle, the camera system comprising at least two cameras; and the control unit according to claim 15. ### Claim 23 (depends on 22) A vehicle comprising the control system according to claim 22, wherein the control unit is configured to control at least one of a longitudinal guide or a lateral guide of the vehicle based on the image data, upon determining the correctness of the image data.