# US 9,751,465 B2 · Vehicle vision system with reduced image color data processing by use of dithering > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,465 B2 - Document ID: US9751465B2 - Status: Granted - Kind: B2 - Application number: 14/391,841 - Filed: 2013-04-16 - Published: 2015-03-12 - Granted: 2017-09-05 - Earliest claimed: 2012-04-16 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics Inc. - Inventors: Goerg Pflug - Web page: https://patentgrep.com/patent/US9751465B2 ## CPC - H04N 23/86: for controlling the colour saturation of colour signals, e.g. automatic chroma control circuits - H04N 9/70: for colour killing - H04N 23/84: for processing colour signals - H04N 25/134: {based on three different wavelength filter elements} - B60R 2300/10: characterised by the type of camera system used - B60R 2300/30: characterised by the type of image processing - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR ## Abstract A vision system for a vehicle includes a camera disposed at the vehicle and having a field of view exterior of the vehicle. The camera includes an RGB photosensor array having multiple rows of photosensing elements and multiple columns of photosensing elements. An in-line dithering algorithm is applied to individual lines of photosensing elements of the photosensor array in order to reduce at least one of color data transmission and color data processing. The in-line dithering algorithm includes at least one of an in-row dithering algorithm that is applied to individual rows of photosensing elements of the photosensor array and an in-column dithering algorithm that is applied to individual columns of photosensing elements of the photosensor array. The in-line dithering algorithm may be operable to determine most significant bits and least significant bits of color data of photosensing elements of the photosensor array. ## Claims ### Claim 1 A vision system for a vehicle, said vision system comprising: a camera disposed at a vehicle and having a field of view exterior of the vehicle; wherein said camera comprises an RGB photosensor array comprising multiple rows of photosensing elements and multiple columns of photosensing elements; wherein an in-line dithering algorithm is applied to individual lines of photosensing elements of said photosensor array in order to reduce at least one of (i) color data transmission and (ii) color data processing; wherein said in-line dithering algorithm comprises at least one of (i) an in-row dithering algorithm that is applied to individual rows of photosensing elements of said photosensor array and (ii) an in-column dithering algorithm that is applied to individual columns of photosensing elements of said photosensor array; wherein said in-line dithering algorithm is operable to determine most significant bits and least significant bits of color data captured by a photosensing element of said photosensor array; and wherein said in-line dithering algorithm determines the most significant bits and the least significant bits of first color data captured by a first photosensing element and wherein the least significant bits of the first color data are added to second color data captured by a second photosensing element to generate second adjusted color data, and wherein said in-line dithering algorithm determines the most significant bits and the least significant bits of the second adjusted color data. ### Claim 2 (depends on 1) The vision system of claim 1, wherein in order to determine the most significant bits of the second adjusted color data, said in-line dithering algorithm uses at least one of (i) a weighing function and (ii) a channel specific correction factor. ### Claim 3 (depends on 2) The vision system of claim 2, wherein said in-line dithering algorithm uses a channel specific correction factor and wherein said channel specific correction factor comprises a color specific correction factor. ### Claim 4 (depends on 2) The vision system of claim 2, wherein said in-line dithering algorithm uses a weighing function and wherein said weighing function comprises a linear function. ### Claim 5 (depends on 4) The vision system of claim 4, wherein said linear function comprises a fix factor. ### Claim 6 (depends on 5) The vision system of claim 5, wherein said fix factor is greater than zero and less than or equal to about one. ### Claim 7 (depends on 2) The vision system of claim 2, wherein said in-line dithering algorithm uses a weighing function and wherein said weighing function comprises a non-linear function. ### Claim 8 (depends on 7) The vision system of claim 7, wherein said nonlinear function comprises a filter. ### Claim 9 (depends on 2) The vision system of claim 2, wherein said first and second photosensing elements comprise photosensing elements of a set of photosensing elements, and wherein said first photosensing element is configured to sense a different spectral band of color than said second photosensing element. ### Claim 10 (depends on 9) The vision system of claim 9, wherein, when all of the color data of a set of photosensing elements are processed, the last color data's least significant bits are added to the color data of a photosensing element of a next set of photosensing elements of said individual line of photosensing elements. ### Claim 11 (depends on 2) The vision system of claim 2, wherein said first and second photosensing elements comprise photosensing elements of adjacent sets of photosensing elements, and wherein said first photosensing element is configured to sense the same spectral band of color as said second photosensing element. ### Claim 12 (depends on 11) The vision system of claim 11, wherein, when all of the color data of a set of photosensing elements are processed, the last color data's least significant bits are added to the color data of a respective photosensing element of the next set of photosensing elements of said individual line of photosensing elements. ### Claim 13 A vision system for a vehicle, said vision system comprising: a camera disposed at a vehicle and having a field of view exterior of the vehicle; wherein said camera comprises an RGB photosensor array comprising multiple rows of photosensing elements and multiple columns of photosensing elements; wherein an in-line dithering algorithm is applied to individual lines of photosensing elements of said photosensor array in order to reduce at least one of (i) color data transmission and (ii) color data processing; wherein said in-line dithering algorithm comprises at least one of (i) an in-row dithering algorithm that is applied to individual rows of photosensing elements of said photosensor array and (ii) an in-column dithering algorithm that is applied to individual columns of photosensing elements of said photosensor array; wherein said in-line dithering algorithm is operable to determine most significant bits and least significant bits of color data captured by a photosensing element of said photosensor array; wherein said in-line dithering algorithm determines the most significant bits and the least significant bits of first color data captured by a first photosensing element and wherein the least significant bits of the first color data are added to second color data captured by a second photosensing element to generate second adjusted color data, and wherein said in-line dithering algorithm determines the most significant bits and the least significant bits of the second adjusted color data; and wherein said in-line dithering algorithm combines the least significant bits of the second adjusted color data of said second photosensing element with color data captured by a third photosensing element of said photosensor array to generate third adjusted color data, and wherein said in-line dithering algorithm determines the most significant bits and least significant bits of the third adjusted color data. ### Claim 14 (depends on 13) The vision system of claim 13, wherein one of (i) said first, second and third photosensing elements comprise different color sensing photosensing elements of a respective photosensing element set and (ii) said first, second and third photosensing elements comprise photosensing elements along said individual line of photosensing elements that are configured to sense a common color.