Method and device for detecting objects from depth-resolved image data
AssigneeConti Temic microelectronic GmbH
InventorsRobert Thiel, Alexander Bachmann
Life of this patent
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Abstract
An object-recognition method for a vehicle's driver assistance system involves obtaining a 2D image and a 3D image, forming a 3D apparent object from the 3D image, detecting one or more detected objects in a portion of the 2D image corresponding to the apparent object from the 3D image, classifying the one or more detected objects into at least one pre-defined object class, and dividing the apparent object into at least two 3D objects when the apparent object does not correspond with at least one class-specific property of the determined at least one object class.
Claims20
An object recognition method for a driver assistance system of a vehicle, comprising the step:
- a) with a camera system of the vehicle, producing a 2D image and a 3D image of a scene outside of the vehicle;
- and further comprising the following steps performed with the driver assistance system:
- b) from the 3D image, forming a three-dimensionally coherent apparent object;
- c) performing image evaluation of an image portion of the 2D image that corresponds to the apparent object formed from the 3D image, and thereby detecting one or more detected objects in the image portion of the 2D image;
- d) performing classification of the one or more detected objects respectively into one or more pre-defined object classes;
- e) assigning respective class-specific 3D dimensions respectively to the one or more detected objects based on the respective object class into which each of the one or more detected objects was classified;
- f) from the 3D image, determining apparent 3D dimensions of the apparent object;
- g) comparing the apparent 3D dimensions of the apparent object with the respective class-specific 3D dimensions assigned respectively to the one or more detected objects;
- and
- h) when the comparing in the step g) indicates that the apparent object is larger than the class-specific 3D dimensions respectively assigned to the one or more detected objects, then dividing the apparent object into at least two three-dimensional objects.
An object recognition method for a driver assistance system of a vehicle, comprising the following steps performed with the driver assistance system:
- forming at least one 3D object from a depth image of a 3D camera,
- evaluating and classifying at least one 2D object in a 2D image which corresponds to the at least one 3D object formed from the depth image,
- evaluating and classifying the at least one 3D object, which comprises dividing the at least one 3D object into a plurality of individual 3D objects, when at least one property of the at least one 3D object does not match a corresponding property determined by the classification of the at least one 2D object in the 2D image, and
- determining at least one 3D placeholder according to a result of the classifying of the at least one 2D object, and taking the at least one 3D placeholder into account as respectively at least one replacement for the at least one 3D object in the depth image.
Dependencies are inferred from the claim text.