U.S. patent application number 15/602068 was filed with the patent office on 2019-03-14 for rear view mirror simulation.
This patent application is currently assigned to SMR Patents S.a.r.l.. The applicant listed for this patent is SMR Patents S.a.r.l.. Invention is credited to Oliver Eder, Andreas Herrmann, Frank Linsenmaier, Firas Mualla, Ilka Rotzer.
Application Number | 20190077332 15/602068 |
Document ID | / |
Family ID | 64270244 |
Filed Date | 2019-03-14 |
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United States Patent
Application |
20190077332 |
Kind Code |
A9 |
Rotzer; Ilka ; et
al. |
March 14, 2019 |
Rear View Mirror Simulation
Abstract
A method is shown to indicate to a driver of a vehicle the
presence of an object moving relative to the vehicle. The method
begins by collecting data using a camera or other such image
capturing device. The data is analyzed to detect a hazard created
by the presence of the object, regardless of whether it is moving
or not. A warning associated with the hazard is created. Both the
hazard and the warning are displayed using the display device.
Inventors: |
Rotzer; Ilka; (Denkendorf,
DE) ; Herrmann; Andreas; (Winnenden, DE) ;
Eder; Oliver; (Pinache, DE) ; Linsenmaier; Frank;
(Weinstadt, DE) ; Mualla; Firas; (Stuttgart,
DE) |
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Applicant: |
Name |
City |
State |
Country |
Type |
SMR Patents S.a.r.l. |
Luxembourg |
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LU |
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Assignee: |
SMR Patents S.a.r.l.
Luxembourg
LU
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Prior
Publication: |
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Document Identifier |
Publication Date |
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US 20180334108 A1 |
November 22, 2018 |
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Family ID: |
64270244 |
Appl. No.: |
15/602068 |
Filed: |
May 22, 2017 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15287554 |
Oct 6, 2016 |
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15602068 |
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14968132 |
Dec 14, 2015 |
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15287554 |
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13090127 |
Apr 19, 2011 |
9238434 |
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14968132 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60R 2300/306 20130101;
B60R 1/00 20130101; B60R 2300/8046 20130101; G06K 9/00791 20130101;
G03B 37/04 20130101; B60R 2300/8026 20130101; B60R 2011/004
20130101; G06K 9/00805 20130101; B60R 2300/8093 20130101; B60R
11/04 20130101; G06T 3/0018 20130101 |
International
Class: |
B60R 11/04 20060101
B60R011/04; G06K 9/00 20060101 G06K009/00; G06T 3/00 20060101
G06T003/00; H04N 5/357 20060101 H04N005/357; G03B 37/04 20060101
G03B037/04 |
Foreign Application Data
Date |
Code |
Application Number |
Apr 19, 2010 |
EP |
10160325.6 |
Claims
1. A method for indicating to a driver of a vehicle the presence of
an object at least temporarily moving relative to the vehicle, the
method comprising the steps of: collecting data using at least one
camera; analyzing the data to detect a hazard created by the
presence of the object; creating a warning associated with the
hazard; and displaying the hazard and the warning using at least
one display device.
2. A method as set forth in claim 1 wherein the step of displaying
includes the step of enhancing the hazard detected by the step of
analyzing the data collected by at least one camera to assist the
driver in recognizing the hazard.
3. A method as set forth in claim 2 wherein the step of enhancing
the hazard includes the step of creating audio signals to alert the
driver.
4. A method as set forth in claim 2 wherein the step of enhancing
the hazard includes the step of marking the hazard to represent a
warning as to the presence of the hazard.
5. A method as set forth in claim 4 wherein the step of marking
includes the step of marking with a color.
6. A method as set forth in claim 5 wherein the step of marking the
hazard with a color includes changing the color of the hazard as
the object and the vehicle move relatively closer to each
other.
7. A method as set forth in claim 2 including dividing at least one
of the at least one display devices into at least two regions.
8. A method as set forth in claim 7 including the step of
rectifying an image shown on one of the at least two regions.
9. A method as set forth in claim 8 including the step of
presenting an image as captured by at least one camera on at least
one of the other of the at least two regions.
10. A method as set forth in claim 2 wherein the step of enhancing
the image includes the step of displaying an alphanumeric and/or
graphical warning on at least one display device.
11. A method a set forth in claim 10, wherein the alphanumerical
and/or graphical warning is displayed adjacent and/or surrounding
and/or in close proximity to a spotter area
12. A method for indicating to a driver of a vehicle the presence
of a plurality of objects all at least temporarily moving relative
to the vehicle, the method comprising the steps of: collecting data
using at least one camera; analyzing the data to detect a plurality
of hazards, each of the plurality of hazards associated with each
of the plurality of objects; identifying a rating for each of the
plurality of hazards; prioritizing each of the plurality of hazards
based on the rating thereof; creating a plurality of warnings each
associated with each of the plurality of hazards; and displaying
the plurality of hazards and warning using at least one display
device, wherein only the highest rated hazard and warning of the
plurality of hazards and warnings of the highest rated is displayed
until the object is no longer present.
13. A method as set forth in claim 12 wherein the step of
displaying includes the step of enhancing the hazard detected by
the step of analyzing the data collected by at least one camera to
assist the driver in recognizing the hazard.
14. A method as set forth in claim 13 wherein the step of enhancing
the hazard includes the step of creating audio signals to alert the
driver.
15. A method as set forth in claim 13 wherein the step of enhancing
the hazard includes the step of marking the hazard with a color
designated to represent a warning as to the presence of the
hazard.
16. A method as set forth in claim 15 wherein the step of marking
the hazard with a color includes changing the color of the hazard
as the object and the vehicle move relatively closer to each
other.
17. A method as set forth in claim 13 including dividing at least
one of the at least one display devices into at least two
regions.
18. A method as set forth in claim 17 including the step of
rectifying an image shown on one of the at least two regions.
19. A method as set forth in claim 18 including the step of
presenting an image as captured by at least one camera on at least
one of the other of the at least two regions.
20. A method as set forth in claim 19 wherein the step of enhancing
the image includes the step of displaying an alphanumeric warning
on at least one display device.
21. A method for indicating to a driver of a vehicle the presence
of a plurality of objects or parts of objects all at least
temporarily moving relative to the vehicle, the method comprising
the steps of: collecting data using at least one camera; analyzing
the data to detect a plurality of objects or parts of objects;
identifying a distance for each of the plurality of objects or part
of objects relative to the vehicle; associating a color with each
of the distances; and displaying the plurality of objects or parts
of objects with the associated color of the respective distance
using at least one display device.
22. A method for indicating to a driver of a vehicle the presence
of an object at least temporarily moving relative to the vehicle,
the method comprising the steps of: collecting data using at least
one camera; analyzing the data to detect a hazard created by the
presence of the object; creating a warning associated with the
hazard from a group of warnings consisting of haptics, acoustics,
odors, chemicals and/or other forms of electromagnetic fields; and
displaying the hazard using at least one display device.
Description
[0001] This patent application is a continuation-in-part of U.S.
patent application Ser. No. 14/968,132, which is a continuation of
U.S. patent application Ser. No. 13/090,127. Furthermore this
patent application claims the priority of U.S. patent application
Ser. No. 15/287,554, which is hereby incorporated herein by
reference. The invention is based on priority patent applications
EP 10160325.6 and U.S. Ser. No. 15/287,554 which are hereby
incorporated by reference.
BACKGROUND ART
1. Field of the Invention
[0002] A first aspect of the invention relates to an exterior
mirror simulation with image data recording and a display of the
recorded and improved data for the driver of a vehicle.
[0003] A second aspect of the invention relates to an environment
simulation with image data recording and a display of the recorded
and improved data for the driver of a vehicle. In particular, an
enlarged optical display, displayed on a display unit and arranged
inside a vehicle, is provided. The display view changes hereby to a
different display view, especially an enlarged view, when detecting
possible hazardous situations.
[0004] The display on a display device shows the data in a way
favored by the driver or vehicle manufacturer.
2. Description of the Related Art
[0005] Several solutions for recording image data and its display
for the driver of a vehicle are known in the prior art. The image
recording is done by one or several cameras installed in the
vehicle. The different assistance systems process the data from the
captured image in very different ways.
[0006] Other well-known solutions relate to image displaying
processes for rear-view cameras, suited to display images and, with
the help of sensors, distance information regarding an obstacle
behind the vehicle. In addition, systems including an image
magnification function when changing into reverse gear and
activated when the vehicle approaches an obstacle are well known.
In US patent application having publication number 2008/0159594, a
system is known which records images from the surroundings of the
vehicle with a fish-eye lens. Image data is recorded with great
distortion through this wide-angle lens. The image data recorded by
the camera pixels are rectified block by block. The display of the
image is done with the rectified image data, since an image of the
surroundings of the vehicle is required.
[0007] A camera for assisting reversing is known in DE
102008031784. The distorted camera image is edited and rectified,
which leads to an undistorted image. This is then further
processed, in order to optimize the perspective for reversing.
[0008] In U.S. Pat. No. 6,970,184 B2, an image displaying process
is known, which determines the distance to an obstacle behind the
vehicle with the help of a distance sensor. This process is
activated when changing into reverse gear and displayed on the
display of a navigation system.
[0009] In DE 102010034140 A1, a process for displaying images on a
display device and a driving assistance system is shown with the
use of a sensor. The image data from two external cameras,
providing each one image from the environment, is used to indicate
the present distance to an object and switch from one image to
another.
[0010] US 20100259371 A1 discloses a parking assistance system
using an ultrasonic sensor. Here, a picture change is suggested and
a distance display, reveals the calculated distance to an
object.
[0011] From WO 2013101075 A1, an object detection system raises an
acoustic warning when an object approaches the vehicle or the
vehicle approaches an object, realized with the help of a
sensor.
[0012] DE 102012007984 discloses a maneuvering system to
automatically move a vehicle with a vehicle-side installed control
device which is designed to output control signals to a driving
and/or steering device of the motor vehicle and thereby
automatically carry out an automatic maneuvering operation of the
vehicle.
[0013] An object monitoring system is known from WO 2011153646 A1,
whereby images are generated using more than one camera and
transmitted to an evaluation unit in order to avoid possible
collisions.
[0014] From EP 2481637 A1 a touch display is known, offering the
possibility to select an object on the display and to calculate the
distance of the respective object. The information can be provided
either via an audio signal and/or a visual representation.
[0015] US 20070057816 discloses a parking assistance method using a
camera system, which ensures stopping during the vehicle parking
process with the aid of a picture taken from the bird's eye
view.
[0016] From EP 1725035, an image acquisition system is supplied
with images from a plurality of cameras, attached to the body of a
vehicle. The driver of the vehicle can then select images via a
touch display as required. The driver thus has the possibility to
select pictures and get them displayed according to the needs of
the present situation.
[0017] From EP 1462342 a parking assist apparatus and method are
known, in which a vehicle driver sets a target parking position for
the vehicle to be parked in on a display, displaying the image from
a back camera. The area can be colored and has to be moved by the
driver to a suitable spot, so that the parking assistant can assist
in or conduct parking the vehicle.
[0018] From WO200007373, a method and an apparatus are disclosed
for displaying images are known which use a synthesized image
composed of a plurality of images shot by a plurality of cameras to
facilitate the understanding of the overall situation.
[0019] A blind spot indicator is disclosed in U.S. Pat. No.
8,779,911 B2, which is adjacent to a second mirror surface of a
rear view device, a so called spotter area, used to observe objects
located in a blind spot of the vehicle.
[0020] An assistance system is known from EP 1065642 that records
an image via a camera and displays the position of the steering
axles in the area of the vehicle in order to reach a possible
parking position.
[0021] WO 2016126322 relates to a configuration for an autonomously
driven vehicle in which the sensors, providing 360 degrees of
sensing, are accommodated within the conventional, existing
exterior surface or skin of the vehicle.
[0022] CN 103424112 discloses a laser-based visual navigation
method to support a movement carrier autonomous navigation system.
To increase the reliability, a plurality of vision sensors are
combined and the geometric relationship between the laser light
source and the vision sensors is effectively utilized.
[0023] WO2014016293 relates to an ultrasonic sensor arrangement
placed within a motor vehicle, which can be used for supplying data
to a parking assistant to show the distance of the motor vehicle to
obstacles to the driver.
SUMMARY OF THE INVENTION
[0024] In contrast, the object of a first aspect of the invention
is to create a display of a camera image, which corresponds to the
familiar image in a rear view mirror. The distortions of the image
caused by the different mirror glasses are provided for the driver
in the usual manner.
[0025] The present invention relates to image rectification for a
vehicle, which includes a display device, in order to show modified
images and an imaging device for receiving the recorded images,
which have been improved by image rectification. Furthermore, the
system comprises image rectification in communication with the
display device and the imaging device, so that pixels, which are
located in the recorded images, are improved by reorientation or
repositioning of the pixels from a first position to a second
position by means of a transmission or transfer process.
[0026] Furthermore, the invention relates to a rear-view image
improvement system for a vehicle, which includes a display device
for showing modified images, which have been improved by the image
improvement system, and an imaging device for receiving recorded
images, which have been improved by the image improvement system.
The system also comprises an image improvement module in connection
with the display device, and indeed in such a way that pixels,
which are located in the recorded images, are grouped and spread
out, in order to form at least one region of interest, in which
reference is made to the pixels from a base plane in the recorded
image, in order to form the modified images.
[0027] Additionally, the object of the second aspect of this
invention is to create and display a camera image, which
corresponds to the best true to the scale image of a region of
interest. The distortion and/or the manipulation of the image
assists the driver to perceive the situation displayed in the
region of interest.
[0028] The invention relates to a further improvement of the
displaying system to relay an accurate or enhanced image from a
region of interest, including for example a hazardous situation, to
the driver by combining state-of-the-art technology, sensors, image
capturing and analysis systems. This is done in such a way, that
the driver receives a best possible true to the scale estimation of
the region of interest and can perceive the situation comprised
within the region of interest, for example with the help of
numerical, graphical and/or audio representation variants within
the vehicle, particularly displayed on the display unit.
[0029] The invention relates further to a system for improving the
perception of the driver by using different graphical
representations and color scales.
[0030] Furthermore, the invention relates to a vehicle comprising
display devices, processing devices and sensors such as
cameras.
[0031] The object of the invention is to also provide an object
detection and classification system with image feature descriptors
derived from periodic descriptor functions.
[0032] An object detection and classification system analyzes
images captured by an image sensor for a hazard detection and
information system, such as on a vehicle. Extracting circuitry is
configured to extract at least one feature value from one or more
keypoints in an image captured by an image sensor of the
environment surrounding a vehicle. A new image feature descriptor
is derived from a periodic descriptor function, which depends on
the distance between at least one of the keypoints and a chosen
query point in complex space and depends on a feature value of at
least one of the keypoints in the image.
[0033] Query point evaluation circuitry is configured to sample the
periodic descriptor function for a chosen query point in the image
from the environment surrounding the vehicle to produce a sample
value. The sample value for a query point may be evaluated to
determine whether the query point is the center of an object or
evaluated to determine what type of object the query point is a
part of.
[0034] If the evaluated query point satisfies a potential hazard
condition, such as if the object is classified as a vulnerable road
user or object posing a collision threat, a signal bus is
configured to transmit a signal to alert the operator of the
vehicle to the object. Additionally, or alternatively, the signal
bus may transmit a signal to a control apparatus of the vehicle to
alter the vehicle's speed and/or direction to avoid collision with
the object.
[0035] The object detection and classification system disclosed
herein may be used in the area of transportation for identifying
and classifying objects encountered in the environment surrounding
a vehicle, such as on the road, rail, water, air, etc., and
alerting the operator of the vehicle or autonomously taking control
of the vehicle if the system determines the encountered object
poses a hazard, such as a risk of collision or danger to the
vehicle or to other vehicles or persons in the area.
[0036] Another aspect of this invention is a rearview device and
illumination means comprising different functions.
BRIEF DESCRIPTION OF THE DRAWINGS
[0037] Advantages of the invention will be readily appreciated as
the same becomes better understood by reference to the following
detailed description when considered in connection with the
accompanying drawings, wherein:
[0038] FIG. 1 shows an exemplary exterior mirror;
[0039] FIG. 2 shows an examples of a mirror type;
[0040] FIG. 3 shows a camera installation;
[0041] FIG. 4 shows an exemplary vehicle;
[0042] FIG. 5 shows a display in the vehicle;
[0043] FIG. 6 shows the process of image capture;
[0044] FIG. 7 shows an alternative process;
[0045] FIG. 8 shows distorted and rectified pixel areas;
[0046] FIG. 9 shows an alternative process from acquiring to
displaying the relevant information;
[0047] FIGS. 10a and 10b show an example of hazardous detection
during operation;
[0048] FIGS. 11a-11k show exemplarily different forms of color
scales;
[0049] FIG. 12 illustrates a rear view of a vehicle with an object
detection and classification system;
[0050] FIG. 13 illustrates a schematic of an image capture with a
query point and a plurality of keypoints;
[0051] FIG. 14 illustrates a block diagram of a system that may be
useful in implementing the implementations disclosed herein;
[0052] FIG. 15 illustrates example operations for detecting and
classifying an object and transmitting a signal to an alert system
and/or to a vehicle control system; and
[0053] FIG. 16 discloses a block diagram of an example processor
system suitable for implementing one or more aspects of an object
detection and classification system with Fourier fans.
DETAILED DESCRIPTION OF THE DRAWINGS
[0054] FIG. 1 shows an exterior mirror 1, which comprises a mirror
head 2, which is connected to a vehicle by a mirror base or bracket
3. The mirror head 2 forms an opening for a mirror glass 4.
[0055] The size of the mirror glass 4 is determined by the mounting
on the vehicle, as well as by the different legal regulations about
the available field of view. In this process, different glass types
for different regions have developed. In the USA, a flat plane
glass is used on the driver side.
[0056] A mirror glass 4 with a curvature radius is shown in FIG. 2.
The glass in FIG. 2 can be used in mirror assemblies on the
passenger side of the vehicle and on the driver side of the vehicle
in countries other than the USA. Convex mirror glasses as well as
glass with an aspherical part are used in addition to convex
glass.
[0057] The driver of a vehicle is used to the display of each type
of exterior mirror, and therefore can deduce for himself the
warning information which he needs to steer the vehicle through the
traffic.
[0058] Exterior mirrors contribute to the overall wind resistance
of the vehicle. The aerodynamics of a vehicle are influenced by the
exterior mirror. Therefore, it is sensible to replace it with the
camera system that provides the same field of view while reducing
the adverse effect on aerodynamics, and so to minimize the total
CO2 emissions of the vehicle, by reducing the turbulent flows
around the vehicle, and creating a predominantly laminar flow.
[0059] FIG. 3 shows a possible installation of a rear view
assembly, generally indicated at 10 in a vehicle. The optical
sensor 6, of which only the optic lens can be seen in the figure,
is enclosed in a housing 7. The housing 7 is tightly mounted to a
vehicle 8, best seen in FIG. 4. The housing 7 has a form which is
streamlined on the vehicle 8. The optical sensor itself is
installed in the housing 7, and has a watertight seal against
weather effects, as well as against the influence of washing
processes with detergents, solvents and high pressure cleaners.
[0060] The housing 7 includes an opening, through which the camera
cabling is led. In this process, the connection of the camera to
the electric system of the vehicle 8 is done by any bus system or a
separate cable connection. FIG. 4 shows as an example the
attachment position of a sensor in the housing 7 on the vehicle 8.
The camera position is therefore to be chosen in a way that fulfils
the legally required field of view. The position can therefore be
on the front mudguard, on the mirror triangle or on the edge of the
vehicle roof 8a. Through the application of a wide-angle lens, it
is possible that the field of view of the sensor will be larger
than through a conventional mirror.
[0061] A display device 20, which can be seen by the driver 9, is
mounted into a vehicle 8. The picture from the camera is
transmitted to the display device 20. In one embodiment, the
display device 20 is mounted to an A-pillar 21 of the motor vehicle
8.
[0062] FIG. 5 shows an exemplary embodiment of the present
invention 10 with a display device 20, which is provided in the
vehicle cab or vehicle interior for observation or viewing by the
driver 9. The rear view assembly 10 delivers real-time wide-angle
video images to the driver 9 that are captured and converted to
electrical signals via the optical sensor 6. The optical sensor 6
is, for example, a sensor technology with a Charge-Coupled Device
(`CCD`) or a Complementary Metal Oxide Semiconductor (`CMOS`), for
recording continuous real-time images. In FIG. 5, the display
device 20 is attached to the A-pillar 21, so that the familiar look
in the rear view mirror is led to a position which is similar to
the familiar position of the exterior mirror used up to now.
[0063] In the event of mounting on the A-pillar 21 being difficult
due to the airbag safety system, a position on the dashboard 22
near to the mirror triangle or the A pillar is also an option. The
display device 20 shows the real-time images of camera 6, as they
are recorded in this example by a camera 6 in the exterior
mirror.
[0064] The invention is not dependent on whether the exterior
mirror is completely replaced, or if, as is shown in FIG. 5, it is
still available as additional information. The optical sensor 6 can
look through a semitransparent mirror glass, for example a
semitransparent plane mirror glass.
[0065] The field of view recorded by an optical sensor 6 is
processed and improved in an image rectification module, which is
associated with the rear view assembly 10, according to the control
process shown in FIG. 6. The image rectification module uses a part
of the vehicle 8 as a reference (e.g. a part of the vehicle
contour) when it modifies the continuous images, which are
transmitted to the display device 20 as video data. The display
device 20 can be a monitor, a liquid crystal display device or a
TFT display, or LCD, a navigation screen or other known video
display devices, which in the present invention permit the driver 9
to see the area near to the vehicle 8. The application of OLED,
holographic or laser projection displays, which are adapted to the
contour of the dashboard or the A pillar 21 are useful.
[0066] The image rectification occurs onboard the vehicle 8, and
comprises processing capacities, which are carried out by a
computation unit, such as, for example, a digital signal processor
or DSP, a field programmable gate array (`FPGA`), microprocessors
or circuits specific to use, or application specific integrated
circuits (`ASIC`), or a combination thereof, which show
programmability, for example, by a computer-readable medium such
as, for example, software or hardware, which is recorded in a
microprocessor, including Read Only Memory (`ROM`), or as binary
image data, which can be programmed by a user. The image
rectification can be formed integrally with the imaging means 20 or
the display device 14, or can be positioned away in communication
(wired or wireless) with both the imaging means as well as the
display device.
[0067] The initiation or starting up of the image rectification
occurs when the driver starts the vehicle. At least one display
device 20 displays continuous images from the side of the vehicle,
and transmits the continuous images to the image rectification
device. The image rectification device modifies the continuous
images and transmits the improved images by video data to the
display device 20, in order to help the driver.
[0068] The individual steps of image rectification as well as image
distortion are shown in FIG. 6. In this process, the invention
distorts the image of the wide-angle camera and applies
post-distortion to this image, in order to give this image the same
view as that of the desired mirror glass.
[0069] The first step is the recording of the image. In a second
step, the type of distortion, to which the image is subjected, is
determined.
[0070] In a further step, the algorithm is selected, which is
adapted to the present distortion. An example is explained in DE
102008031784.
[0071] An optical distortion correction is an improving function,
which is applied to the continuous images. The optical distortion
correction facilitates the removal of a perspective effect and a
visual distortion, which is caused by a wide angle lens used in the
camera 6. The optical distortion correction uses a mathematical
model of the distortion, in order to determine the correct position
of the pixels, which are recorded in the continuous images. The
mathematical position also corrects the pixel position of the
continuous images, as a result of the differences between the width
and height of a pixel unit due to the aspect or side ratio, which
is created by the wide angle lens.
[0072] For certain lenses, which are used by the camera 6, the
distortion coefficient values k1 and k2 can be predetermined, in
order to help in eliminating the barrel distortion, which is
created by the use of a wide-angle lens. The distortion coefficient
values are used for the real-time correction of the continuous
images.
[0073] The distortion coefficient values k1 and k2 can be further
adjusted or coordinated by using an image, which is recorded in the
continuous images, which shows the known straight line, for
example, the lane markings on a road. According to this aspect of
the present invention, the distortion center is registered by
analysis of the recorded continuous images in the search for the
straightest horizontal and vertical lines, whereby the center is
situated where the two lines intersect. The recorded image can then
be corrected with varied or fine-tuned distortion co-efficient
values k1 and k2 in a trial and error process. If, for example, the
lines on one side of the image are "barrel distorted" ("barreled")
and lines on the other side of the image are "pin cushion
distorted" ("pin-cushioned"), then the center offset must move in
the direction of the pin-cushioned side. If a value is found, which
sufficiently corrects the distortion, then the values for the
distortion center 42 and the distortion coefficient values k1 and
k2 can be used in the mathematical model of optical distortion
correction.
[0074] As a result of the rectification stage at 63, a low-error
image is given at 64, which can be shown on the display device 20.
The image obtained after rectification corresponds to the image of
a plane mirror, whereby the simulated mirror surface would be
larger than the usual mirror surface. If such a plane mirror is
simulated, the further steps are eliminated and the data is
displayed directly on the display according to FIG. 7. The image of
a plane mirror is defined by a selection of pixels of the optical
sensor. In this way, as shown in FIG. 8, only the pixels in the
middle of the optical sensor are chosen. In order to simulate the
plane mirror in a larger approximation on the hardware mirror, data
must be cut, and the section is limited to a section in the middle
of the image.
[0075] The operator which is applied to the pixels in order to
achieve the desired image is determined in the next step 64. For
example, the algorithm is selected in order to again distort the
low-error image as would be shown in mirror glass with an aspheric
curve, for example. Therefore, the pixel values must be moved in a
certain area in order to obtain the impression of curved mirror
glass.
[0076] In the next step 65, the post-distortion of the present
image is carried out. For example, a plane mirror with a convex
additional mirror is chosen. For this purpose, a defined number of
pixels is chosen for the display of the plane mirror surface. In
FIG. 8, it is area G which shows plane surfaces in the middle of
the optical sensor. For the display of information from the convex
mirror, all pixels of the sensor must be used, both area G as well
as H, in order to provide data to the wide-angle representation of
the image, which is situated in a defined area of the display. This
is due to the fact that the additional convex mirror will produce
an image of which a portion overlaps the image that is created by
the plane mirror.
[0077] The information from all pixels is subject to a
transformation, and the image of all pixels is distorted and shown
on a small area of the display. In this process, information is
collated by suitable operators in order to optimally display the
image on a lower number of display pixels.
[0078] All operations described up to now present a defined image
while the vehicle is in motion. The image is adjusted depending on
the application of the vehicle.
[0079] A further adjustment possibility of the simulated exterior
mirror is the function of adapting the field of view to the
driver's position. As in a conventional mirror, which is adapted by
an electric drive to the perspective of the driver, the `mirror
adjustment` of the plane mirror simulation is done by moving
section A on the optical sensor, so that other pixels of the
optical sensors are visualized. The number of pixels, and therefore
the size of the section, is not changed. This adjustment is
indicated by the arrows in FIG. 8.
[0080] For a convex mirror, the adjustment to the perspective of
the driver is not connected with simply moving a pixel section, but
rather with a recalculation of the image.
[0081] The whole control of the exterior mirror simulation is done
by control elements, which are used in the conventional way on the
vehicle door or on the dashboard.
[0082] Furthermore, the invention also relates to a further
improvement of the displaying system to relay an accurate image
from a region of interest, that may include for example a hazardous
situation, to the driver by combining state-of-the-art technology,
sensors, image capturing and analysis systems. This is done in such
a way that the driver receives a best possible true-to-scale
estimation of the region of interest, and the drive can perceive
the situation within the region of interest, for example with the
help of numerical, graphical, audio representation variants or any
combination thereof within the vehicle, many of which may be
displayed on the display device 20.
[0083] The vehicle 8 can detect hazardous situations not only when
moving, but also when pausing, parking and during the process of
parking. The information is delivered to the vehicle 8 using a
different signaling device. The signaling device may include
sensors, imaging capturing and data analysis systems, any other
possible device to transform information from the environment and
from within the vehicle 8 into data usable by the vehicle 8, data
links to other objects, for example vehicles or stationary
stations, as well as any combinations hereof.
[0084] One embodiment of the process from acquiring the data to
displaying the relevant information is shown in FIG. 9. The
signaling device 90, by way of example, includes a sensor and a
camera 91, collects data and analyzes it to detect possible hazard
situations within a hazard detection module 92. When detecting a
possible hazard situation, the signaling device 90 transmits
information at 93 to the driver assistant software. The method then
evaluates the information at 94, rectifies it and transmits it to
the display unit to be displayed at 95 to the driver.
[0085] The vehicle 8 recognizes an object moving relative to the
vehicle 8, for example a pedestrian walking on the sidewalk, with
the help of the signaling device 90. One part of the signaling
device 90 detects this moving object and calculates the distance to
the vehicle. The same or another part of the signaling device marks
this object, for example with a color, and relays the information
with the help of a display device to the driver. The display device
20 is configured to pass the information that a potential hazard
has been detected at a specific distance, e.g. 30 meters to the
vehicle 8. The display device 20, showing the respective region of
interest in which the potential hazard has been detected, is now
subdivided to show at least two images, for example a normal, and
additionally a rectified image of the respective region, whereby
the rectified image of the respective region can be an enlarged
view of the respective region. Additionally it is possible to
subdivide the display device into multiple parts. Then multiple
different images, for example rectified or non-rectified images of
multiple detected possible hazards, can be shown.
[0086] This is exemplarily shown in FIGS. 10a and 10b, wherein in
FIG. 10a the image of the situation in front of a vehicle 8 is
depicted, comprising a street 101, a sidewalk 102 and two objects
103 and 104 located on the sidewalk. In FIG. 10b, the object 104,
is now present on the street and the signaling device 90 detects
this as a possible hazard object within a respective region of
interest 105. The display device 20 is subdivided to provide the
normal view of the image and additionally an enlarged view 106 of
the respective region 105, in which the possible hazard object has
been detected. Additionally, another indicator in form of the
alphanumeric characters "Danger!" is used here to support the
perception of the situation by the driver.
[0087] To react accordingly to the present situation, either the
nearest potential hazard object is shown in the rectified image of
the respective region and the view is switched to the next nearest
potential hazard object after passing the nearest potential hazard
object, or the order in which the potential hazard objects are
shown in the rectified image of the respective region is arranged
according to the level of hazard the potential hazard objects pose,
starting from the highest rated potential hazard to the lowest
rated potential hazard. The level of hazard can be derived for
example form accumulated velocity and position data of the
respective objects.
[0088] Additionally, the signaling device 90 can mark the potential
hazard objects as rated (described earlier) either based on
distance or level of hazard, wherein the characteristic properties
of these markings can be comprised of color, brightness, shading,
hatching or any other type of possible quality as well as any
combinations thereof, constant with respect to time or varying with
time, displayed on the display device 20.
[0089] Additionally, the signaling device 90 can mark the objects
or parts of objects surrounding the vehicle 8 and determine the
distances of the respective objects or part of the objects. Then it
can associate a color with each of the respective object or part of
the object based on the distance of the respective object or part
of the object and display this information on the display device
20. Thereby the distance information is connected with the color
information, allowing a better anticipation and understanding of
the distance information on the display device 20.
[0090] The display device 20 may also include a navigation device,
a head-up display, any other kind of devices suitable for
displaying numerical, graphical and/or audio representation
variants, or any combination thereof.
[0091] The signaling device 90 can also recognize the situation
arising when the driver initializes the process of parking,
irrespective of the gear used and the direction in which the
parking is performed. When the driver changes for example into
reverse gear, the image transmitted to the display device 20 shows
a normal image of the region behind and/or adjacent to the sides of
the vehicle. As soon as the driver approaches a relevant object in
the vicinity of the reversing vehicle 8, for example a curbstone,
another vehicle, a fire hydrant or any other type of object,
located in a respective region of interest of the display device
20, the situation displayed on the display device 20 changes to a
rectified image of the respective region of interest, preferably an
extended view of the respective region of interest.
[0092] The situation displayed on the display device 20 during the
parking process, the rectified image of the respective region of
interest, covers the whole area of the display unit.
[0093] At the same time, the signaling device 90 detects and
calculates the distance to the relevant object and relays this
information with the help of the display device 20 to the driver by
numerical, graphical, audio representation variants or any
combination thereof, preferably by using a graphical
representation, preferably by using a range of different colors,
brightness, shadings, hatchings or any other type of possible
quality as well as any combinations thereof, constant with respect
to time or varying with time.
[0094] The same holds true for the vehicle 8 attempting to park
when using the forward gear so that the display device 20 shows an
image of the region in front and/or adjacent to the sides of the
vehicle 8.
[0095] Instead of concentrating on a single relevant object, the
signaling device 90 can also mark different objects in the vicinity
of the vehicle 8 and display the distance information on the
display device 20 by numerical, graphical, audio representation
variants or any combination thereof, preferably by using a
graphical representation, in particular by using a range of
different colors, brightness, shadings, hatchings or any other type
of possible quality as well as any combinations thereof, constant
with respect to time or varying with time, and therefore enhance
the perception of the situation by the driver.
[0096] Using color as the characteristic quality and relating the
distance of the objects to the displayed color of the objects can
especially enhance the perception of the situation by the driver,
when the driver is not able to naturally perceive depth or distance
information by optical means, due to for example a missing
stereoscopic view, a missing ability to read the distance
information or other inabilities in one of these directions. The
color scheme used to signify the distance of the object can be
adapted to the personal needs of the driver, for example a version
without ambiguities for persons having the inability to discern
between different colors. Instead of the color quality another
characteristic quality, for example the brightness, can be used to
signify the distance of the respective objects for persons which
have the inability to perceive colors, so that also in this cases
the perception of the driver can be enhanced. This holds true for
all other possible combinations of different qualities and/or the
different representation variants.
[0097] When the vehicle 8 is not moving, that is parking or
temporarily halting, for example due to a red traffic light, the
signaling device 90 is used to identify relevant objects which pose
a possible hazard in the near or far vicinity of the vehicle 8.
These objects are for example pedestrians, bicycle riders or other
vehicles, but also other objects having the possibility to move
temporary or to be moved, for example boom barriers or bollards.
The image displayed on the display device 20 is chosen as to
optimize the perception of the situation and the possible hazards
by the driver from one or more of the methods described above, for
example showing an enlarged view of the possible hazard objects
and/or marking the possible hazard objects with different
colors.
[0098] When applicable, also the perception of the person sitting
next to the driver or another person sitting, in fact all fellow
passengers in the vehicle 8 is enhanced. This is achieved by using
the methods described above and, when necessary, splitting the
image displayed on the display device 20 to provide two or more
different images, one for each of the respective persons,
displaying different images on different display device 20 for the
respective persons or any combination thereof. This is especially
useful in situations, in which the driver and the fellow passenger
require different information, for example when opening the doors
and/or exiting on different sides and facing therefore different
possible hazards. This is also useful in situations in which the
signaling unit 90 is not able to display all the different possible
hazards on one single display device 20 or the number of possible
hazards is so large, that one driver alone is not able to perceive
the complete situation.
[0099] A special potential hazard situation is present when an
object moves into or is located inside a region not visible for the
driver and/or another person sitting in the vehicle, often referred
to as a blind spot. This typically comprises for example the area
left and right of the vehicle which is not captured by the
rear-view devices such as the external rear-view mirrors, but also
the area in the surrounding of the vehicle 8 where the view is
blocked by parts of the vehicle 8 itself. Objects inside these
regions are detected and either marked and displayed as described
in the situations above, or a special warning signal is sent to the
driver and/or the respective persons sitting in the vehicle to
inform them of this special possible hazard. This special warning
signal can be comprised of numerical, graphical and/or audio
representation variants or any combination thereof, in particular a
time varying signal, such as for example a blinking graphical
representation, preferably a frame or part of a frame, or a
tone.
[0100] The term "driver" and "driver of the vehicle" relates here
to the person controlling the main parameters of the vehicle, such
as for example direction, speed and/or altitude, e.g. normally the
person located in the location specified for the controlling
person, for example a seat, but can also relate to any other person
or object within or outside of the vehicle for which information
can be provided.
[0101] To provide information to the driver, it can be advantageous
to reduce and/or specify the amount of information provided to the
driver, for example in images which can naturally comprise a huge
amount of information and which might be not or not really or only
partially important to the driver.
[0102] In one embodiment, a zoom function is applied/used to direct
the attention of the driver to at least one point of interest
(POI), for example like a specific detail, area, event and/or
object, by enlarging the view around this POI and reducing the
amount of information besides the POI and not related with it,
while still providing contextual information about the details
and/or the area close to the POI.
[0103] In another embodiment of this zoom function, additional
information is provided to the driver. This additional information
can comprise for example a graphical, audio, tactile, taste, smell
signal and/or any combination thereof, providing vehicle and/or
environment in an advantageous way.
[0104] In this embodiment, this signal comprises a graphical
representation of the distance between the vehicle and at least one
POI. This graphical representation can for example be a scale in
which at least a parameter of the signal, for example the color,
brightness, contrast, polarization, size and/or form of the output
of the graphical representation, is used with at least one function
of at least one parameter of the vehicle and/or environment, for
example the distance between the vehicle and a POI, and in which
the at least one function can be comprised of for example a linear
function, an exponential function, a logarithmic function, a
polynomial function, a constant function and/or any combination
thereof.
[0105] In one specific embodiment the color of the graphical
representation is used to enhance the perception of the distance
information provided by the vehicle with respect to at least one
POI, in which the colors are chosen according to the purpose, for
example signifying an approaching object in the direction of
travel.
[0106] When driving and/or reversing and approaching a POI with
which contact should not be made, the color of the graphical
representation can change from green, signaling a large distance,
to red, signaling a small distance. When driving and/or reversing
and approaching a POI with which contact is desired, for example a
coupling device, the colors of the graphical representation can be
used in a reversed meaning, that is using the red color to signify
a large distance and the green color to signify a small distance.
When driving and/or reversing and approaching a POI with which
keeping a specific distance is desired, a two-sided scale can be
used signaling large distances away from the desired distance in
both directions with one color, for example red, and the optimal
distance with another color, for example green. The colors can
change according to the at least one specified function in for
example a constant, linear, exponential, logarithmic, polynomial
and/or any combination thereof way. In the example above it could
be a standard color bar ranging from red to orange to yellow to
green. But any other colors, color bars and/or color schemes can be
used.
[0107] The color scale can take various forms, comprising for
example a multitude of elements, for example arranged vertically as
shown for stripes in FIG. 11a, arranged in a circle as shown for
stripes in FIG. 11b, arranged in a half-circle as shown for stripes
in FIG. 11c, arranged in a triangle shape as shown for stripes in
FIG. 11d, arranged in a rectangular shape as shown for stripes in
FIG. 11e. The shape of the elements can also vary and is not
limited to the shown stripes, comprising for example triangles,
circles, squares, 2D and/or 3D representations of 3D objects, for
example cubes, boxes, pyramids and many more.
[0108] The scale can also comprise just a single element, becoming
smaller or larger and/or changing colors. Preferably the single
element comprises a continuous changing color scale, of which
several possible embodiments are shown in FIGS. 11f-11k.
[0109] At the same time, a number representation of the parameter
and/or the parameter range can be displayed next to the scale to
increase the perception by the driver. The orientation of the scale
can be chosen either horizontal, vertical and/or at any angle in
between.
[0110] The size, shape color and volume of the graphical
representation can also change with the at least one parameter of
the vehicle and/or environment, such that for example a single or
multiple elements fade away, disappear and/or appear. The arrows
shown in the FIGS. 11a-11k indicates exemplarily the direction of
such possible changes.
[0111] The graphical representations, for example those shown in
FIGS. 11a-11k, can also be used to be placed adjacent to and/or
surrounding a present spotter area of a rear view device,
irrespective if an actual mirror or a mirror replacement, such as a
display, is used.
[0112] In all embodiments the changes can also be carried out on
multiple parts and in multiple directions, sequentially or at the
same time.
[0113] Multiple information can be displayed on a single display
device, by splitting the display into at least two parts, one part
showing the information of the zoom function, whereas at least one
of the other parts can show the normal view and/or part of the
normal view
[0114] A vehicle comprising display devices, processing devices and
sensors such as cameras is also described. In or on the vehicle
different display devices, processing devices and cameras can be
installed, configured and interconnected.
[0115] The display devices can be mounted inside or outside the
vehicle and can be used to transmit optical information to the
driver and/or any person or object inside and outside of the
vehicle. The display devices can also be configured to transmit
information via haptics, acoustics, odors, chemicals and/or other
forms of electromagnetic fields. The information is typically first
collected from sensors and other signal receiving devices on or in
the vehicle and then processed by processing devices. A multitude
or only one processing device can be installed in the vehicle to
process the pictures and information provided by the cameras and
sensors. Optionally the processing devices can be remotely located
and the vehicle is wirelessly connected to the remote processing
unit. The processed information is then directed to the different
display devices to inform the driver and/or any person or object
inside and outside of the vehicle. Depending on the location of the
display devices and the nature of the receiver, the output of
different information with different output means is induced.
[0116] The display devices can also be configured to receive input
from the driver and/or any person or object inside and outside of
the vehicle. This input can be received via different sensing
means, comprising for example photosensitive sensors, acoustic
sensors, distance sensors, touch-sensitive surfaces, temperature
sensors, pressure sensors, odor detectors, gas detectors and/or
sensors for other kind of electromagnetic fields. This input can be
used to control or change the status of the output of the display
device and/or other components on or in the vehicle. For example
the field of view, the contrast, the brightness and/or the colors
displayed on the display device, but also the strength of the touch
feedback, sound volume and other adjustable parameters can be
changed. As further examples the position or focus of a camera, the
temperature or lighting inside the vehicle, the status of a mobile
device, like a mobile phone, carried by a passenger, the status of
a driver assistance system or the stiffness of the suspension can
be changed. Generally every adjustable parameter of the vehicle can
be changed.
[0117] Preferably the information from the sensing means is first
processed by a processing device, but it can also be directly
processed by the sensor means or the display device comprising a
processing device. Preferably the display device comprises a
multi-touch display so that the driver or any other passenger can
directly react to optical information delivered by the display
device by touching specific areas on the display. Optionally
gestures, facial expression, eye movement, voice, sound,
evaporations, breathing and/or postural changes of the body can
also be detected, for example via a camera, and used to provide
contact-free input to also control the display device.
[0118] Information stemming from multiple sources can be
simultaneously displayed on a display of the display device. The
information coming from different sources can either be displayed
in separated parts of the display or the different information can
be displayed side by side or overlaid together on the same part of
the display.
[0119] Selecting a specific region on the display of the display
device by, for example touching it, can trigger different functions
depending on the circumstances. For example, a specific function
can be activated or deactivated, additional information can be
displayed, or a menu can be opened. The menu can offer the choice
between different functions, for example the possibility to adjust
various parameter.
[0120] The adjustment of different parameters via a menu can be
done in many ways, known from prior art and especially from the
technology used in mobile phones with touch screen technology.
Known are for example scrolling or sliding gestures, swiping,
panning, pinching, zooming, rotating, single, double or multi
tapping, short or long pressing, with one or more than one finger
of one or more hands and/or any combination thereof.
[0121] A display device in combination with one or more cameras can
be used to replace a rearview mirror, either an interior or an
exterior rearview mirror. There are various advantages offered by
this constellation. For example, a display device together with a
camera monitoring one side of the vehicle and one camera monitoring
the rear of the vehicle can replace an external rearview mirror. By
combining the pictures of both cameras, the blind spot zone is
eliminated and an improved visibility is offered.
[0122] The display devices can be arranged inside the vehicle
eliminating the need for exterior parts. This offers the advantage
to smoothen the outer shape of the vehicle, reduces the air
friction and therefore offers power and/or fuel savings.
[0123] The processing device can advantageously handle the input of
multiple sources. Correlating the input data of the different
sources allows for the reduction of possible errors, increases
measurement accuracy and allows to extract as much information as
possible from the available data.
[0124] When driving, it is especially important to perceive
possibly dangerous situations. One part of the processing device
analyses the available data and uses different signaling means to
enhance the perception of the situation by the driver. For example,
an object recognition and classification algorithm can be used to
detect different objects surrounding the vehicle, for example based
on the pictures acquired by one or more cameras. Comparing the
pictures for different points in time or using supplementary sensor
data gives information about the relative movement of objects and
their velocity. Therefore, objects can be classified into different
categories; for example, dangerous, potentially dangerous, noted
for continued observance, highly relevant, relevant, and
irrelevant.
[0125] From all the information, a level of danger attributed with
each object can be derived. Depending on the danger level or other
important parameters, the perception of objects for the driver can
be enhanced by using different signalling means to display on the
display device, for example highlighting the objects with specific
colors, increased brightness, flashing messages, warning signs
and/or using audio messages. The overall danger level or the
highest danger level can also be displayed by special warning
signs, like an increased brightness, a colorful border around the
whole or specific parts of the display, constant in time or
flashing with increasing or decreasing frequency. The information
displayed on the display device is highly situational and is
re-evaluated according to the updated information from the various
sensors and information sources. An emergency vehicle or a station
can for example broadcast an emergency message to allow for
vehicles and the driver of the vehicles for an improved reaction to
possible dangerous situations or to clear the path for emergency
operations. A vehicle involved in an accident or dangerous
situation can also broadcast a message to call the attention of
other vehicles and their drivers to those situations.
[0126] The implementations disclosed herein also relate to an
object detection and classification system for use in a variety of
contexts. The present disclosure contains a novel feature
descriptor that combines information relating to what a feature is
with information relating to where the feature is located with
respect to a query point. This feature descriptor provides
advantages over prior feature descriptors because, by combining the
"what" with the "where," it reduces the resources needed to detect
and classify an object because a single descriptor can be used
instead of multiple feature descriptors. The resulting system
therefore is more efficient than prior systems, and can more
accurately detect and classify objects in situations where hardware
and/or software resources are limited.
[0127] FIG. 12 illustrates a rear view of a vehicle 112 with an
object detection and classification system 110 according to the
present disclosure. The vehicle 112 includes an image sensor 114 to
capture an image 116 of the environment surrounding the vehicle
112. The image may include a range of view through an angle 118,
thus the image 116 may depict only a portion of the area
surrounding the vehicle 112 as defined by the angle 118. The image
116 may include an object 120. The object 120 may be any physical
object in the environment surrounding the vehicle 112, such as a
pedestrian, another vehicle, a bicycle, a building, road signage,
road debris, etc. The object detection and classification system
110 may assign a classification to the object 120. The
classification may include the type of road object, whether the
object is animate or inanimate, whether the object is likely to
suddenly change direction, etc. The object detection and
classification system 110 may further assign a range of
characteristics to the object 120 such as a size, distance, a point
representing the center of the object, a velocity of the object, an
expected acceleration range, etc.
[0128] The image sensor 114 may be various types of optical image
sensors, including without limitation a digital camera, a range
finding camera, a charge-coupled device (CCD), a complementary
metal oxide semiconductor (CMOS) sensor, or any other type of image
sensor capable of capturing continuous real-time images. In an
implementation, the vehicle 112 has multiple image sensors 114,
each image sensor 114 may be positioned so as to provide a view of
only a portion of the environment surrounding the vehicle 112. As a
group, the multiple image sensors 114 may cover various views from
the vehicle 112, including a front view of objects in the path of
the vehicle 112, a rear-facing image sensor 114 for capturing
images 116 of the environment surrounding the vehicle 112 including
objects behind the vehicle 112, and/or side-facing image sensors
114 for capturing images 116 of object next to or approaching the
vehicle 112 from the side. In an implementation, image sensors 112
may be located on various parts of the vehicle. For example,
without limitation, image sensors 112 may be integrated into an
exterior mirror of the vehicle 112, such as on the driver's
exterior side mirror 122. Alternatively, or additionally, the image
sensor 112 may be located on the back of the vehicle 112, such as
in a rear-light unit 124. The image sensor 112 may be
forward-facing and located in the interior rear-view mirror,
dashboard, or in the front headlight unit of the vehicle 112.
[0129] Upon capture of an image 116 of the environment surrounding
the vehicle 112, the object detection and classification system 110
may store the image 116 in a memory and perform analysis on the
image 116. One type of analysis performed by the object detection
and classification system 110 on the image 116 is the
identification of keypoints and associated keypoint data.
Keypoints, also known as interest points, are spatial locations or
points in the image 116 that define locations that are likely of
interest. Keypoint detections methods may be supplied by a third
party library, such as the SURF and FAST methods available in the
OpenCV (Open Source Computer Vision) library. Other methods of
keypoint detection include without limitation SIFT (Scale-Invariant
Feature Transform). Keypoint data may include a vector to the
center of the keypoint describing the size and orientation of the
keypoint, and visual appearance, shape, and/or texture in a
neighborhood of the keypoint, and/or other data relating to the
keypoint.
[0130] A function may be applied to a keypoint to generate a
keypoint value. A function may take a keypoint as a parameter and
calculate some characteristic of the keypoint. As one example, a
function may measure the image intensity of a particular keypoint.
Such a function may be represented as f (z.sub.k), where f is the
image intensity function and z.sub.k is the k.sup.th keypoint in an
image. Other functions may also be applied, such a visual word in a
visual word index.
[0131] FIG. 13 illustrates a schematic diagram 200 of an image
capture 204 taken by an image sensor 202 on a vehicle. The image
capture 204 includes a query point (x.sub.c, y.sub.c) and a
plurality of keypoints z.sub.0-z.sub.4. A query point is a point of
interest that may or may not be a keypoint, for which the object
detection and classification system may choose for further
analysis. In an implementation, the object detection and
classification system may attempt to determine whether a query
point is the center of an object to assist in classification of the
object.
[0132] Points in the image capture 204 may be described with
reference to a Cartesian coordinate system; wherein each point is
represented by an ordered pair, the first digit of the pair
referring to the point's position along the horizontal or x-axis,
and the second digit of the pair referring to the point's position
along the vertical or y-axis. The orientation of the horizontal and
vertical axes with respect to the image 204 is shown by the axis
206. Alternatively, points in the image capture 204 may be referred
to with complex numbers where each point is described in the form
x+iy wherein i= (-1). In another implementation, a query point may
serve as the origin of a coordinate system, and the locations of
keypoints relative to the query point may be described as vectors
from the query point to each of the keypoints.
[0133] The image detection and classification system 110 uses a new
descriptor function, to produce an evaluation of a query point in
an image 204 that combines a representation of what the feature is
and where the feature is located in relation to the query point
into a single representation. For any image 204 with a set of
keypoints z.sub.0-z.sub.4 in the neighborhood of a query point
(x.sub.c, y.sub.c), the descriptor for the query point is as
follows:
F ( .zeta. ) = 1 N k = 0 N - 1 ( z k - z c ) e i 2 .pi. f ( z k )
.zeta. ##EQU00001##
[0134] where N is the number of keypoints in the image from the
environment surrounding the vehicle in the neighborhood of the
query point, z.sub.c is the query point represented in complex
space, z.sub.k is the k.sup.th keypoint, f(z.sub.k) is the feature
value of the k.sup.th keypoint, and .zeta. is the continuous
independent variable of the descriptor function F(.zeta.).
[0135] To obtain a descriptor that is invariant to scale and
orientation, Equation (1) may be modified by letting z.sub.m be the
mean value of z.sub.k values:
z m = 1 N k = 0 N - 1 ( z k - z c ) ##EQU00002##
[0136] By dividing the right-hand side of Equation (1) by
|z.sub.m|, a scale invariant version of the descriptor is obtained.
On the other hand, by dividing both sides of Equation (1) by
z m z m ##EQU00003##
a rotation-invariant version the descriptor is obtained. In order
to write a descriptor that is invariant in both scale and
orientation, dividing by z.sub.m yields the following
descriptor:
F ( .zeta. ) = 1 z m k = 0 N - 1 ( z k - z c ) e i 2 .pi. f ( z k )
.zeta. ##EQU00004##
[0137] The division by N is omitted from Equation (3) since the
contribution of the keypoint number is already neutralized through
the division by z.sub.m. Due to the similarity of Equation (3) to
the formula for the Inverse Fourier Series, Equation (3) may be
referred to herein as a Fourier Fan.
[0138] Since Equation (3) is a function of a continuous variable it
may be sampled for use in the object detection and classification
system 100. In an implementation, a sampling frequency greater than
2max(f) may be chosen where max( ) indicates the maximum value of
the function f. Another characteristic of Equation (3) is that it
is infinite over the domain of the variable .zeta.. Sampling an
infinite equation will result in an infinite number of samples,
which may not be practical for use in the object detection and
classification system 100. If Equation (3) is a periodic function,
however, then it would be sufficient to sample only a single period
of Equation (3), and to ignore the remaining periods. In an
implementation, Equation (3) is made to be periodic by requiring
all values of the function f to be integer multiples of a single
frequency f.sub.0. As such, for Equation (3) to be able to be
sampled, the function f must have a known maximum, and for the
Equation (3) to be periodic, the function f must be quantized such
that the values of f are integer multiples of f.sub.0.
[0139] In an implementation, the function f may represent more than
a simple feature, such as the image intensity. Instead, the
function f may be a descriptor function of each of the keypoints,
such as those referred to herein (e.g., SIFT and/or SURF
descriptors). Such descriptors are usually not simple scalar
values, but rather are more likely to be high dimensional feature
vectors, which cannot be incorporated directly in Equation (3) in a
trivial manner. It is, however, possible to incorporate complex
descriptors as feature values by clustering the descriptors in an
entire set of training data and to use the index of the
corresponding cluster as the value for f. Such cluster centers may
be referred to as "visual words" for f. Let f.sub.k be the
descriptor for a keypoint k, if f.sub.k takes integer values, e.g.,
3, then there is a descriptor at the keypoint located at
z.sub.k-z.sub.c, which can be assigned to cluster 3. It should be
appreciated that, in this example, f is quantized and the number of
clusters is the function's maximum which is known. These
characteristics are relevant because they are the characteristics
of f needed to make Equation (3) able to be sampled and
periodic.
[0140] In an implementation, an order is imposed on the visual word
cluster centers, such that the output of f is not a categorical
value. In other words, without an order, the distance between
cluster 2 and cluster 3 is not necessarily less than the distance
between cluster 2 and cluster 10 because the numerical values are
merely identifiers for the clusters. An order for the visual words
may be imposed using multidimensional scaling (MDS) techniques.
Using MDS, one can find a projection into a low dimensional feature
space from a high dimensional feature space such that distances in
the low dimensional feature space resemble as much as possible
distances in the high dimensional feature space. Applied to the
visual words using MDS, the cluster centers may be projected into a
one dimensional space for use as a parameter for f. In one
implementation, a one dimensional feature space is chosen as the
low dimensional feature space because one dimensional space is the
only space in which full ordering is possible.
[0141] The object detection and classification system may be tuned
according to a set of training data during which parameters for the
system may be chosen and refined. For example, descriptor values
and types may be chosen, the size of the neighborhood around a
query point may be set, the method of choosing keypoints, the
number of keypoints chosen per image, etc. may also be chosen.
Since the tuning of the object detection and classification system
is a type of machine learning, it may be susceptible to a problem
known as "overfitting." Overfitting manifests itself when machine
classifiers over-learn the training data leading to models which do
not generalize well on other data, the other data being referred to
herein as "test data." In the descriptor of Equation (3),
overfitting could occur if, on training data, the object detection
and classification system overfits the positions of the keypoints
with respect to the query point. Changes in the positions of the
keypoints that are not present in training data, which could occur
due to noise and intra-class variance, will not always be handled
well by the object detection and classification system when acting
on test data. To address the issue of overfitting, at each query
point (x.sub.c, y.sub.c), instead of extracting a single Fourier
Fan Equation (3) on training data, multiple random Fans may be
extracted, denoted by the set M.sub.f (e.g., 15.sub.f). Each of the
random Fans contains only a subset of the available N keypoints in
the neighborhood of the query point (x.sub.c, y.sub.c). Later, when
the object detection and classification system is running on test
data, the same set M.sub.f of random Fourier Fans is extracted, and
the result is confirmed according to majority agreement among the
set of random Fourier Fans. Random Fourier Fans also allow the
object detection and classification system to learn from a small
number of images since several feature vectors are extracted at
each object center.
[0142] In the comparison of Equation (3), the "Fourier Fan," to the
formula for the inverse Fourier Series, it should be understood
that there are some differences between the two. For example, only
those frequencies that belong to the neighborhood of a query point
are available for each Fourier Fan. As another example, shifting
all coefficients z.sub.k by a constant z.sub.a, i.e. a shift of the
object center, is not equivalent to adding a Dirac impulse in the
domain .zeta. even if it is assumed that the same keypoints are
available in the new query point neighborhood. This is true because
the addition of z.sub.a is not a constant everywhere, but only to
the available frequencies, and zero for the other frequencies.
[0143] FIG. 14 illustrates a block diagram of an object detection
and classification system 300 that may be useful for the
implementations disclosed herein. The object detection and
classification system 300 includes an image sensor 302 directed at
the environment surrounding a vehicle. The image sensor 302 may
capture images of the environment surrounding the vehicle for
further analysis by the object detection and classification system
300. Upon capture, an image from the environment surrounding a
vehicle may be stored in the memory 304. The memory 304 may include
volatile or non-volatile memory and may store images captured by
the image sensor as well as data produced by analysis of the images
captured by the image sensor. A processor 306 may carry out
operations on the images stored in memory 304. The memory 304 may
also store executable program code in the form of program modules
that may be executed by the processor 306. Program modules stored
on the memory 304 include without limitation, hazard detection
program modules, image analysis program modules, lens obstruction
program modules, blind spot detection program modules, shadow
detection program modules, traffic sign detection program modules,
park assistance program modules, collision control and warning
program modules, etc.
[0144] The memory 304 may further store parameters and settings for
the operation of the object detection and classification system
300. For example, parameters relating to the training data may be
stored on the memory 304 including a library of functions f and
keypoint settings for computation and calculation of Random Fourier
Fans. The memory 304 may further be communicatively coupled to
extracting circuitry 308 for extracting keypoints from the images
stored on the memory 304. The memory 304 may further be
communicatively coupled to query point evaluation circuitry 310 for
taking image captures with keypoints and associated keypoint data
and evaluating the images with keypoints and keypoint data
according to Fourier Fans to produce sampled Fourier Fan
values.
[0145] If the sampled Fourier Fan values produced by the query
point evaluation circuitry 310 meet a potential hazard condition,
then signal bus circuitry 312 may send a signal to an alert system
314 and/or a vehicle control system 316. Sampled Fourier Fan values
may first be processed by one or more program modules residing on
memory 304 to determine whether the sampled values meet a potential
hazard condition. Examples of sampled values that may meet a
potential hazard condition are an object determined to be a
collision risk to the vehicle, an object that is determined to be a
vulnerable road user that is at risk of being struck by the
vehicle, a road sign object that indicates the vehicle is traveling
in the wrong part of a road or on the wrong road, objects that
indicate a stationary object that the vehicle might strike, objects
that represent a vehicle located in a blind spot of the operator of
the vehicle.
[0146] If the sampled values of a Fourier Fan function satisfy a
potential hazard condition, the signal bus circuitry 312 may send
one or more signals to the alert system 314. In an implementation,
signals sent to the alert system 312 include acoustic warnings to
the operator of the vehicle. Examples of acoustic warnings include
bells or beep sounds, computerized or recorded human language voice
instructions to the operator of the vehicle to suggest a remedial
course of action to avoid the cause the of sample value meeting the
potential hazard condition. In another implementation, signals sent
to the alert system 314 include tactile or haptic feedback to the
operator of the vehicle. Examples of tactile or haptic feedback to
the operator of the vehicle include without limitation shaking or
vibrating the steering wheel or control structure of the vehicle,
tactile feedback to the pedals, such as a pedal that, if pushed,
may avoid the condition that causes the sample value of the Fourier
Fan to meet the potential hazard condition, vibrations or haptic
feedback to the seat of the driver, etc. In another implementation,
signals sent to the alert system 314 include visual alerts
displayed to the operator of the vehicle. Examples of visual alerts
displayed to the operator of the vehicle include lights or
indications appearing on the dashboard, heads-up display, and/or
mirrors visible to the operator of the vehicle. In one
implementation, the visual alerts to the operator of the vehicle
include indications of remedial action that, if taken by the
operator of the vehicle, may avoid the cause of the sample value of
the Fourier Fan meeting the potential hazard condition. Examples of
remedial action, include an indication of another vehicle in the
vehicle's blind spot, an indication that another vehicle is about
to overtake the vehicle, an indication that the vehicle will strike
an object in reverse that may not be visible to the operator of the
vehicle, etc.
[0147] In another implementation, if the sampled values of a
Fourier Fan function satisfy a potential hazard condition, the
signal bus circuitry 312 may send one or more signals to the
vehicle control system 316. Examples of signals sent to the vehicle
control system 316 include signals to the steering system to alter
the direction of the vehicle in an attempt to avoid the object that
is the cause of the sampled values of the Fourier Fan function to
satisfy the potential hazard condition. In another implementation,
a signal sent to the vehicle control system 316 may include signals
to sound the horn of the vehicle to alert the object that caused
the sample values of the Fourier Fan function to satisfy the hazard
condition that the vehicle with the object detection and
classification system is present. In yet another implementation,
the signal sent to the vehicle control system 316 include a signal
to engage the brakes of the vehicle to avoid a collision with the
detected object.
[0148] FIG. 15 illustrates example operations 400 for detecting and
classifying an object and outputting a signal if a sample value of
a Fourier Fan meets a potential hazard condition. A capturing
operation 402 captures an image from the environment surrounding a
system with an image sensor, the image from the environment
surrounding the system having one or more keypoints. The image from
the environment surrounding the system may be captured by an image
sensor mounted anywhere on the system. In one implementation, the
system is a vehicle. The captured image may be stored in a memory
in an object detection and classification system. Once stored, a
processor may execute a keypoint detection program module to
identify the keypoints. Alternatively, or additionally, extracting
circuitry may identify the keypoints in the image. The keypoints
may be identified according to a number of methods, such as methods
provided by third party libraries, and data parameters for the
methods, such as the number of keypoints to extract or conditions
for a keypoint extraction may be stored on the memory in the object
detection and classification system.
[0149] Extracting operation 404 extracts at least one feature value
from at least one of the one or more keypoints in the image from
the environment surrounding the system. A processor may execute a
feature value extraction program module to extract the features
values of keypoints. Alternatively, or additionally, extracting
circuitry may extract the feature values of keypoints in the stored
image. The feature value of a keypoint may be determined according
to a function f In some embodiments, the function f may have
certain characteristics for use in a Fourier Fan Equation: having a
known maximum, such that a sampling rate may be set to 2max(f), and
being periodic, such that only one period of f need be sampled.
[0150] Sampling operation 406 samples a periodic descriptor
function for a query point in the image from the environment
surrounding the system to produce a sample value, the periodic
descriptor function depending on the distance between at least one
of the one or more keypoints and the query point in complex space,
the periodic descriptor function further depending on at least one
feature value extracted from at least one of the one or more
keypoints in the image from the environment surrounding the
vehicle. In an implementation, the sampled periodic descriptor
function in sampling operation 406 is Equation (3).
[0151] At decision block 408, if the sample value of the periodic
descriptor function does not meet a potential hazard condition,
then the method ends or returns to capturing operation 402. If the
sample value of the periodic descriptor function does meet a
potential hazard condition, then outputting operation 410 sends a
signal via a signal bus. The signal sent via the signal bus in
outputting operation 410 may be to an alert system of a vehicle,
which may display an acoustic or visual signal to the operator of
the vehicle regarding the object that is the cause of the sample
value exceeding the potential hazard condition. In another
embodiment, the signal bus sends at outputting operation 410 a
signal to a vehicle control system. The system sent to the vehicle
control system may cause the vehicle to change speed or direction
without intervention from the operator of the vehicle to avoid a
collision with the object that caused the sample value to exceed
the potential hazard condition.
[0152] FIG. 16 discloses a block diagram of a processor system 500
suitable for implementing one or more aspects of an object
detection and classification system with Fourier Fans. The
processor system 500 is capable of executing a processor program
product embodied in a tangible processor-readable storage medium.
Data and program files may be input to the processor system 500,
which reads the files and executes the programs therein using one
or more processors. Some of the elements of a processor system 500
are shown in FIG. 16 wherein a processor 502 is shown having an
input/output (I/O) section 504, a Central Processing Unit (CPU)
506, and a memory section 508. There may be one or more processors
502, such that the processor 502 of the computing system 500
comprises a single central-processing unit 506, or a plurality of
processing units. The processors may be single core or multi-core
processors. The described technology is optionally implemented in
software loaded in memory 508, a disc storage unit 512, and/or
communicated via a wired or wireless network link 514 on a carrier
signal (e.g., Ethernet, 3G wireless, 5G wireless, LTE (Long Term
Evolution)) thereby transforming the processing system 500 in FIG.
16 to a special purpose machine for implementing the described
operations. The disc storage unit 512 may include volatile memory,
non-volatile memory, solid state memory, flash memory, hybrid,
and/or traditional magnetic rotating data storage media.
[0153] The I/O section 504 may be connected to one or more
user-interface devices (e.g., a mobile device, a touch-screen
display unit 518, etc.) or the disc storage unit 512. Processor
program products containing mechanisms to effectuate the systems
and methods in accordance with the described technology may reside
in the memory section 508 or on the storage unit 512 of such a
system 500.
[0154] A communication interface 524 is capable of connecting the
processor system 500 to an enterprise network via the network link
514, through which the processor system 500 can receive and/or send
instructions and data embodied in a carrier wave. The communication
interface 524 may receive signals and data representing an image
from the environment surrounding the system via an image sensor.
The communication interface may send signals from the processor
system 500 to the image detection and classification system
including without limitation audible alert signals sent to the
operator of a vehicle, data signals sent to a HUD
(heads-up-display) visible to the operator of a vehicle, a video
screen such as display 518 that is visible to the operator of a
vehicle for display of information regarding objects and/or alerts,
a vehicle control signal for altering the control of a vehicle to
avoid a hazard, etc.
[0155] When used in a local area networking (LAN) environment, the
processor system 500 is connected (by wired connection or
wirelessly) to a local network through the communication interface
524, which is one type of communications device. When used in a
wide-area-networking (WAN) environment, the processor system 500
typically includes a modem, a network adapter, or any other type of
communications device for establishing communications over the wide
area network. In a networked environment, program modules depicted
relative to the processor system 500 or portions thereof, may be
stored in a remote memory storage device. It is appreciated that
the network connections shown are examples of communications
devices for, and other means of, establishing a communications link
between the processor and other devices may be used.
[0156] In an example implementation, a network agent of an
enterprise network may be embodied by instructions stored in memory
508 and/or the storage unit 512 and executed by the processor 502.
Further, local computing systems, remote data sources and/or
services, and other associated logic represent firmware, hardware,
and/or software, which may be configured to transmit data outside
of the enterprise network via the network agent. The network agent
of the enterprise network may be implemented using a general
purpose computer and specialized software (such as a server
executing service software), a special purpose computing system and
specialized software (such as a mobile device or network appliance
executing service software), or other computing configurations. In
addition, data-selection policies and data transmission preparation
policies may be stored in the memory 508 and/or the storage unit
512 and executed by the processor 502.
[0157] An example system includes an image sensor mounted on a
system and configured to capture an image from the environment
surrounding the system, the image from the environment surrounding
the system including one or more keypoints, extracting circuitry
configured to extract at least one feature value from at least one
of the one or more keypoints in the image from the environment
surrounding the system, query point evaluation circuitry
communicatively coupled to the image sensor and the extracting
circuitry and configured to classify an object by sampling a
periodic descriptor function for a query point in the image from
the environment surrounding the system to produce a sample value,
the periodic descriptor function depending on the distance between
at least one of the one or more keypoints and the query point in
complex space, the periodic descriptor function further depending
on at least one feature value extracted from at least one of the
one or more keypoints in the image from the environment surrounding
the system, and a signal bus configured to transmit a signal to the
operator of the system if the sample value satisfies an alert
condition.
[0158] An example system of any preceding system includes that the
periodic descriptor function is defined as follows:
F ( .zeta. ) = 1 N k = 0 N - 1 ( z k - z c ) e i 2 .pi. f ( z k )
.zeta. ##EQU00005##
[0159] where N is the number of keypoints in the image from the
environment surrounding the system in the neighborhood of the query
point, z.sub.c is the query point represented in complex space,
z.sub.k is the k.sup.th keypoint, f (z.sub.k) is the feature value
of the k.sup.th keypoint, and .zeta. is the continuous independent
variable of the descriptor function F(.zeta.).
[0160] An example system of any preceding system includes that the
periodic descriptor function is a scale-invariant or
rotation-invariant function defined as follows:
F ( .zeta. ) = 1 z m k = 0 N - 1 ( z k - z c ) e i 2 .pi. f ( z k )
.zeta. ##EQU00006## wherein : ##EQU00006.2## z m = 1 N k = 0 N - 1
( z k - z c ) . ##EQU00006.3##
[0161] An example system of any preceding system includes the
signal transmitted to the operator of the system is an audible
alert.
[0162] An example system of any preceding system includes the
signal transmitted to the operator of the system is a visual
alert.
[0163] An example system of any preceding system includes the
signal transmitted to the operator of the system includes haptic
feedback.
[0164] An example system of any preceding system includes the at
least one feature value includes a visual appearance feature.
[0165] An example system of any preceding system includes the at
least one feature value includes a visual word index in a
dictionary of visual words, the visual word index having an order
relation determined by multi-dimensional scaling.
[0166] An example system of any preceding system includes the
feature values of the k.sup.th keypoint are integer multiples of a
single frequency f.sub.0.
[0167] An example system of any preceding system includes the query
point evaluation circuitry is further configured to sample a
plurality of randomized descriptor functions, each randomized
descriptor function including only a subset of the one or more
keypoints.
[0168] An example system of any preceding system includes that the
system is a vehicle.
[0169] An example system of any preceding system includes that the
signal to the system is a vehicle control signal.
[0170] An example system includes means for capturing an image from
the environment surrounding a system with an image sensor, the
image from the environment surrounding the system having one or
more keypoints. The example system further includes means for
extracting at least one feature value from at least one of the one
or more keypoints in the image from the environment surrounding the
system. The example system further includes means for sampling a
periodic descriptor function for a query point in the image from
the environment surrounding the system to produce a sample value to
classify an object, the periodic descriptor function depending on
the distance between at least one of the one or more keypoints and
the query point in complex space, the periodic descriptor function
further depending on at least one feature value extracted from at
least one of the one or more keypoints in the image from the
environment surrounding the system. The example system further
includes means for outputting an alert signal via a signal bus if
the sample value satisfies an alert condition.
[0171] An example method includes capturing an image from the
environment surrounding a system with an image sensor, the image
from the environment surrounding the system having one or more
keypoints, extracting at least one feature value from at least one
of the one or more keypoints in the image from the environment
surrounding the system, sampling a periodic descriptor function for
a query point in the image from the environment surrounding the
system to produce a sample value to classify an object, the
periodic descriptor function depending on the distance between at
least one of the one or more keypoints and the query point in
complex space, the periodic descriptor function further depending
on at least one feature value extracted from at least one of the
one or more keypoints in the image from the environment surrounding
the system, and outputting an alert signal via a signal bus if the
sample value satisfies an alert condition.
[0172] An example method of any preceding method includes that the
periodic descriptor function is defined as follows:
F ( .zeta. ) = 1 N k = 0 N - 1 ( z k - z c ) e i 2 .pi. f ( z k )
.zeta. ##EQU00007##
[0173] where N is the number of keypoints in the image from the
environment surrounding the system in the neighborhood of the query
point, z.sub.c is the query point represented in complex space,
z.sub.k is the k.sup.th keypoint, f (z.sub.k) is the feature value
of the k.sup.th keypoint, and .zeta. is the continuous independent
variable of the descriptor function F(.zeta.).
[0174] An example method of any preceding method includes that the
alert signal results in an audible alert.
[0175] An example method of any preceding method includes that the
alert signal results in a visual alert.
[0176] An example method of any preceding method includes that the
alert signal results in haptic feedback to the operator of the
system.
[0177] An example method of any preceding method includes that the
at least one feature includes an image intensity.
[0178] An example method of any preceding method includes that the
at least one feature value includes a visual word index in a
dictionary of visual words.
[0179] An example method of any preceding method includes that the
visual word index has an order relation determined by
multi-dimensional scaling.
[0180] An example method of any preceding method includes that the
feature values of the k.sup.th keypoint are integer multiples of a
single frequency f.sub.0.
[0181] An example method of any preceding method includes that the
periodic descriptor function is a scale-invariant or
rotation-invariant function defined as follows:
F ( .zeta. ) = 1 z m k = 0 N - 1 ( z k - z c ) e i 2 .pi. f ( z k )
.zeta. ##EQU00008## wherein : ##EQU00008.2## z m = 1 N k = 0 N - 1
( z k - z c ) . ##EQU00008.3##
[0182] An example method of any preceding method includes that the
sampling operation includes sampling a plurality of randomized
descriptor functions, each randomized descriptor function including
only a subset of the one or more keypoints.
[0183] An example system includes an image sensor mounted on a
system and configured to capture an image from the environment
surrounding the system, the image from the environment surrounding
the system including one or more keypoints, one or more processors,
and a memory storing processor-executable instructions to perform
the operations of: extracting, by the processor, at least one
feature value from at least one of the one or more keypoints in the
image from the environment surrounding the system; sampling, by the
processor, a periodic descriptor function for a query point in the
image from the environment surrounding the system to produce a
sample value to classify an object, the periodic descriptor
function depending on the distance between at least one of the one
or more keypoints and the query point in complex space, the
periodic descriptor function further depending on at least one
feature value extracted from at least one of the one or more
keypoints in the image from the environment surrounding the system,
and outputting, by the processor, an alert signal via a signal bus
if the sample value satisfies an alert condition.
[0184] An example system of any preceding system includes that the
periodic descriptor function is defined as follows:
F ( .zeta. ) = 1 N k = 0 N - 1 ( z k - z c ) e i 2 .pi. f ( z k )
.zeta. ##EQU00009##
[0185] where N is the number of keypoints in the image from the
environment surrounding the system in the neighborhood of the query
point, z.sub.c is the query point represented in complex space,
z.sub.k is the k.sup.th keypoint, f(z.sub.k) is the feature value
of the k.sup.th keypoint, and .zeta. is the continuous independent
variable of the descriptor function F(.zeta.).
[0186] An example system of any preceding system includes that the
alert signal results in an audible alert.
[0187] An example system of any preceding system includes that the
alert signal results in a visual alert.
[0188] An example system of any preceding system includes that the
alert signal results in haptic feedback to the operator of the
system.
[0189] An example system of any preceding system includes that the
at least one feature includes an image intensity.
[0190] An example method of any preceding method includes that the
at least one feature value includes a visual word index in a
dictionary of visual words.
[0191] An example method of any preceding method includes that the
visual word index has an order relation determined by
multi-dimensional scaling.
[0192] An example system of any preceding system includes that the
feature values of the k.sup.th keypoint are integer multiples of a
single frequency f.sub.0.
[0193] An example system of any preceding system includes that the
periodic descriptor function is a scale-invariant or
rotation-invariant function defined as follows:
F ( .zeta. ) = 1 z m k = 0 N - 1 ( z k - z c ) e i 2 .pi. f ( z k )
.zeta. ##EQU00010## wherein : ##EQU00010.2## z m = 1 N k = 0 N - 1
( z k - z c ) . ##EQU00010.3##
[0194] An example system of any preceding system includes the
sampling operation includes sampling a plurality of randomized
descriptor functions, each randomized descriptor function including
only a subset of the one or more keypoints.
[0195] The implementations described herein may be implemented as
processor-implemented methods, with circuitry such as ASIC designs,
or any combination thereof. The system described herein may include
a variety of tangible computer-readable storage media and
intangible computer-readable communication signals. Tangible
computer-readable storage can be embodied by any available media
that can be accessed by the object detection and classification
system and includes both volatile and nonvolatile storage media,
removable and non-removable storage media. Tangible
computer-readable storage media excludes intangible communications
signals and includes volatile and nonvolatile, removable and
non-removable storage media implemented in any method or technology
for storage of information such as computer readable instructions
executable by a processor, data structures, program modules or
other data. Tangible computer-readable storage media includes, but
is not limited to, RAM, ROM, EEPROM, flash memory or other memory
technology, CDROM, digital versatile disks (DVD) or other optical
disk storage, magnetic cassettes, magnetic tape, magnetic disk
storage or other magnetic storage devices, or any other tangible
medium which can be used to store the desired information and which
can be accessed by the object detection and classification system.
In contrast to tangible computer-readable storage media, intangible
computer-readable communication signals may embody computer
readable instructions executable by a processor, data structures,
program modules or other data resident in a modulated data signal,
such as a carrier wave or other signal transport mechanism. The
term "modulated data signal" means a signal that has one or more of
its characteristics set or changed in such a manner as to encode
information in the signal. By way of example, and not limitation,
intangible communication signals include wired media such as a
wired network or direct-wired connection, and wireless media such
as acoustic, RF, infrared and other wireless media.
[0196] Some embodiments may comprise an article of manufacture. An
article of manufacture may comprise a tangible storage medium to
store logic. Examples of a storage medium may include one or more
types of computer-readable storage media capable of storing
electronic data, including volatile memory or non-volatile memory,
removable or non-removable memory, erasable or non-erasable memory,
writeable or re-writeable memory, and so forth. Examples of the
logic may include various software elements, such as software
components, programs, applications, computer programs, application
programs, system programs, machine programs, operating system
software, middleware, firmware, software modules, routines,
subroutines, functions, methods, procedures, software interfaces,
application program interfaces (API), instruction sets, computing
code, computer code, code segments, computer code segments, words,
values, symbols, or any combination thereof. In one embodiment, for
example, an article of manufacture may store executable computer
program instructions that, when executed by a computer, cause the
computer to perform methods and/or operations in accordance with
the described embodiments. The executable computer program
instructions may include any suitable type of code, such as source
code, compiled code, interpreted code, executable code, static
code, dynamic code, and the like. The executable computer program
instructions may be implemented according to a predefined computer
language, manner or syntax, for instructing a computer to perform a
certain function. The instructions may be implemented using any
suitable high-level, low-level, object-oriented, visual, compiled
and/or interpreted programming language.
[0197] The implementations described herein are implemented as
logical steps in one or more computer systems. The logical
operations may be implemented (1) as a sequence of
processor-implemented steps executing in one or more computer
systems and (2) as interconnected machine or circuit modules within
one or more computer systems. The implementation is a matter of
choice, dependent on the performance requirements of the computer
system being utilized. Accordingly, the logical operations making
up the implementations described herein are referred to variously
as operations, steps, objects, or modules. Furthermore, it should
be understood that logical operations may be performed in any
order, unless explicitly claimed otherwise or a specific order is
inherently necessitated by the claim language. The above
specification, examples, and data, together with the attached
appendices, provide a complete description of the structure and use
of exemplary implementations.
[0198] A rearview device is a type of device generally fulfilling
the legal requirements for rear view devices in vehicles,
preferably motor vehicles. Therefore such a rear view device
provides an image of the rear area, substantially as provided for
example in the state-of-the-art using an interior mirror or a
camera system and a display device, and of the lateral and backside
areas lying diagonal to the sides, substantially as provided for
example in the state-of-the-art using external rearview mirrors or
camera systems and display devices, the image satisfying at least
the legal requirements.
[0199] Such a rearview device within the subgroup of devices for
indirect view and as such the tasks, aims and the solutions
described in this invention can also be used for indirect view
devices. Examples are images and views of objects which are not in
the field of view of the driver, i.e. the directions opposing,
left, right, below and above of the viewing direction, but also the
view along the direction of the viewing direction of the driver
and/or any combinations of the directions can be comprised. The
view of the driver can be insufficient in particular also in the
viewing direction, for example the view can be obstructed by
vehicle parts of the vehicle itself, such as for example parts of
the vehicle body, in particular the A-pillar, the roof construction
and/or the engine hood, and the view can be obstructed by other
vehicles and/or objects outside of the vehicle, obstructing the
view in such a way that the driver can perceive the situation not
completely satisfyingly or only incompletely. Additionally, it is
possible that the driver is not able to perceive the situation in
or beside the viewing direction in such a way to allow him to
control the vehicle according to the present situation. Therefore,
a rearview device can be adapted to reprocess the information
according to the abilities of the driver to allow for a best
possible perception of the situation.
[0200] It is also one aspect of the present invention to provide a
rearview device which can operate outside of the legal requirements
and which can then be admitted for operation either by exceptional
permissions or an adaption of the legal requirements. Such a
rearview device can be especially inventiveness since it provides a
solution outside of the predefined well known framework.
[0201] The rearview device can also be equipped with different
illumination devices.
[0202] Different functions and devices can be incorporated into
and/or controlled with the help of rearview devices, comprising
especially also cameras.
[0203] Especially useful are functions and devices to enhance,
extend and/or sustain the functionality of the rearview device
during normal or extreme conditions. This can comprise heating
and/or cooling means, cleaning means such as wipers, liquid and/or
gaseous sprays, actuator means for moving the rearview device or
parts of it, such as for example a display, a camera system and/or
parts of a camera system, comprising for example lenses, filters,
light sources, adaptive optics like deformable mirrors, sensors
and/or mirrors, and/or actuator means for inducing movement of
other objects, for example parts of the vehicle and/or objects
surrounding the vehicle. Furthermore it can comprise linear tracks
and/or rotating wheels, like for example a filter wheel, for
exchanging optical elements, comprising for example lenses,
mirrors, light sources, sensors, adaptive optics like deformable
mirrors and/or filters.
[0204] Prominent examples for functions and devices incorporated
into and/or controlled with the help of rearview devices comprise
also illumination devices, for example any kind of light module
like an external light module, an internal light module, a front
light, a back light, a fog light, a brake light, an acceleration
light, a turn signal, a logo lamp, a front area illumination light,
a ground illumination light, a puddle light, a flash light, a
navigation light, a position light, an emergency light, a
spotlight, a green light, a red light, a warning light, a turn
signal light module, an approach light, a search light, an
information light, a display and/or any combination thereof.
[0205] Further examples for functions and devices incorporated into
and/or controlled with the help of rearview devices can comprise
for example a tiredness detection system, a microsleep detection
system, a distance and/or velocity determination system, for
example a LIDAR (Light detection and ranging) system, a blind spot
indicator system, a lane change assistant system, a navigation
assistant system, a tracking assistant system, a human-machine
interaction system, a machine-machine interaction system, an
emergency and precaution assistant system, like an accident
avoiding assistant system, a counter-measures assistant system, a
brake assistant system, a steering assistant system, an
acceleration assistant system, an escape assistant system,
comprising for example an ejection seat system, a direction
indicator, a blind spot indicator, an approach system, a strong
braking system, an emergency braking system, a charging status
indicator, a vehicle mode system, comprising for example a sports
mode system, an economy mode system, an autonomous drive mode
system, a sleep mode system and an anti-theft system, a vehicle
locked indicator system, a vehicle stolen indicator, a warning
signal system, a temperature indicator system, a weather indicator
system, a traffic light signal system, a fuel status system and/or
any combination thereof.
[0206] An example for a rearview device comprising an illumination
device fulfilling the brake light functions is disclosed in German
patent application No. 102012108488, filed on Sep. 11, 2012 for
REARVIEW ASSEMBLY FOR MOTOR VEHICLE and hereby incorporated herein
by reference. A light guidance unit for an illumination device used
in a back vision system is disclosed in German patent application
No. 102012104529, filed on May 25, 2012 for LIGHT GUIDANCE UNIT
which is hereby incorporated herein by reference. An illumination
device for a rearview device is disclosed in German patent
application No. 102012107833, filed on Aug. 24, 2012 for
ILLUMINATION DEVICE AND REARVIEW DEVICE which is hereby
incorporated herein by reference. A lighting device for a
back-vision unit is disclosed in German patent application No.
102012107834, filed on Aug. 24, 2012 for LIGHTING DEVICE AND
BACK-VISION UNIT which is hereby incorporated herein by reference.
A housing and display device of a rearview device is disclosed in
European patent No. 2738043, filed on Dec. 3, 2012 for HOUSING AND
DISPLAY DEVICE which is hereby incorporated herein by reference. An
optical light guide for a vehicle lighting unit is disclosed in
European patent No. 2947378, filed on May 22, 2014 for OPTICAL
LIGHT GUIDE FOR A VEHICLE LIGHTING UNIT which is hereby
incorporated herein by reference. A display device of a rearview
device of a vehicle is disclosed in International patent
application No. 2015/173695, filed on May 7, 2015 for DISPLAY
DEVICE, REAR VIEW DEVICE AND MOTOR VEHICLE and claiming priority to
European patent application No. 2944866, filed on May 12, 2014 for
OPTICAL UNIT, DISPLAY DEVICE, REAR VIEW DEVICE AND MOTOR VEHICLE
INCLUDING THE SAME which are all hereby incorporated herein by
reference. Further, a light guiding device for an illumination
device, in particular for a motor vehicle or a display device, in a
rearview device of a motor vehicle is disclosed in European patent
application No. 3045944, filed on Jan. 19, 2015 for LIGHT GUIDING
DEVICE which is hereby incorporated herein by reference. Still
further a light guiding device for an illumination device,
especially for a motor vehicle or an indicator device in a rearview
device of a motor vehicle is disclosed in U.S. patent application
Ser. No. 15/228,566, filed on Aug. 4, 2016, for LIGHT GUIDING
DEVICE and is a continuation-in-part of U.S. patent application
Ser. No. 15/000,733, filed on Jan. 19, 2016 for LIGHT GUIDING
DEVICE which are all hereby incorporated herein by reference. In
addition, an illumination device, particularly for a rear-view
device of a motor vehicle and a method for producing the same are
disclosed in International patent application No. 2016/147154,
filed on Mar. 18, 2016 for ILLUMINATION DEVICE AND METHOD FOR
PRODUCING AN ILLUMINATION DEVICE and claiming priority to German
patent application No. 102015104163, filed on Mar. 19, 2015 for
ILLUMINATION DEVICE AND METHOD FOR PRODUCING AN ILLUMINATION DEVICE
which are all hereby incorporated herein by reference. An improved
rear-view device for a motor vehicle which includes an electronic
device is disclosed in U.S. patent application Ser. No. 15/256,532,
filed on Sep. 3, 2016 for ELECTRONIC DEVICE AND REAR-VIEW DEVICE
and claiming priority to European patent application No. 3139711,
filed on Sep. 3, 2015 for ELECTRONIC DEVICE AND REAR VIEW DEVICE
which are all hereby incorporated herein by reference. A lighting
device for a rearview device or a footwell device of a vehicle,
comprising at least one luminous means is disclosed in German
patent application No. 102015115555, filed on Sep. 9, 2015 for
ILLUMINATION DEVICE, REAR VIEW DEVICE, FOOTWELL DEVICE AND VEHICLE
which is hereby incorporated herein by reference. A light module
for a light assembly of an exterior rear view device is disclosed
in European patent application No. 3138734, filed on Sep. 3, 2015
for LIGHT MODULE, LIGHT ASSEMBLY AND REAR VIEW DEVICE FOR A VEHICLE
which is hereby incorporated herein by reference. A lighting device
for a vehicle component, in particular for a rearview device of a
motor vehicle, comprising a logo lamp and a deflection mirror are
disclosed in European patent application No. 3144183, filed on Sep.
13, 2016 for LIGHTING DEVICE, VEHICLE COMPONENT AND VEHICLE and
claiming priority to German utility patent application No.
202015104894, filed on Sep. 15, 2015 for LIGHTING DEVICE, VEHICLE
COMPONENT AND VEHICLE which are all hereby incorporated herein by
reference.
[0207] A camera module can comprise in particular a plurality of
different optical elements, comprising a.o. a variety of sensors
and light sources, as well as housing parts.
[0208] The housing of a camera module can be made out of plastic,
metal, glass, any other suitable material and/or any combinations
thereof and can be used in combination with the techniques
described below to change or modify the properties of the material
or the material surface. Housings are for example described in
German patent application No. 102016108247.3, filed on May 3, 2016
for CLEANING SYSTEM FOR A CAMERA and U.S. patent application Ser.
No. 15/281,780, filed Sep. 30, 2016 for TELESCOPING REARVIEW
ASSEMBLY WITH CAMERA AND LENS WIPING SYSTEM, which are all hereby
incorporated herein by reference.
[0209] The camera can comprise for example CCD or CMOS or light
field sensors, as for example described in German patent
application No. 102011053999, filed Sep. 28, 2011 for DETECTION
SYSTEM FOR OPTICAL DETECTION OF OBJECT AND/OR REGION OF SPACE FOR
DRIVER ASSISTANCE AND/OR DISPLAY SYSTEMS OF MOTOR VEHICLE, HAS
OPTICAL SENSOR ARRANGED AS LIGHT FIELD SENSOR FOR DETECTION and
U.S. patent application Ser. No. 09/771,140, filed on Jan. 26, 2001
for MONITORING DEVICE FOR VEHICLES, IN PARTICULAR, MOTOR VEHICLES,
now U.S. Pat. No. 6,703,925, which are all hereby incorporated
herein by reference. Also an area of the sensor can be reserved for
different purposes, for example to detect a test beam, as described
in U.S. Pat. No. 8,031,224, filed on Sep. 9, 2014 for CAMERA
SYSTEM, METHOD FOR OPERATION OF A CAMERA SYSTEM AND SENSOR DEVICE
OF A CAMERA SYSTEM, which is hereby incorporated herein by
reference.
[0210] The optical elements can be molded or formed from any type
of glass or any other suitable material. Glass is here used in the
meaning of a non-crystalline amorphous solid showing a glass
transition when heated towards the liquid state. It comprises for
example the group of polymeric glasses, metallic glasses, silica
glasses, but any other suitable material showing the glass
transition can also be used. The glass can be either in a flat,
wedge, rectangular, cylindrical, spherical, conical, elliptical,
and/or circular shape, as described for example in German patent
application No. 102016108247.3, and German patent application No.
102011103200, filed on May 31, 2011 for LIGHT WINDOW FOR USE AS
LIGHT CONDUCTOR FOR TURN INDICATOR IN OUTSIDE MIRROR ARRANGEMENT OF
VEHICLE, HAS UNCOUPLING STRUCTURES AT CERTAIN LOCATION OF WINDOW,
AND OPTICAL FILM WITH MOLDED COATING AND PROVIDED WITH UNCOUPLING
STRUCTURES, which are all hereby incorporated herein by reference,
or have a shape according to different needs or lens types. As
non-limiting examples camera modules can be equipped with lenses,
like a wide-angle or fish-eye lens suitable to provide peripheral
images, as described in U.S. patent application Ser. No.
15/281,780, and U.S. patent application Ser. No. 13/090,127, filed
on Apr. 19, 2011 for REAR VIEW MIRROR SIMULATION, now U.S. Pat. No.
9,238,434, a Fresnel lens or micro lenses as described in German
patent application No. 102011053999, filed Sep. 28, 2011 for
DETECTION SYSTEM FOR OPTICAL DETECTION OF OBJECT AND/OR REGION OF
SPACE FOR DRIVER ASSISTANCE AND/OR DISPLAY SYSTEMS OF MOTOR
VEHICLE, HAS OPTICAL SENSOR ARRANGED AS LIGHT FIELD SENSOR FOR
DETECTION, and a TIR (total internal reflection) lens as described
in U.S. Pat. No. 8,740,427, filed Sep. 8, 2010 for OPTIMAL LIGHT
COUPLING FOR REAR VIEW DEVICES, which are all hereby incorporated
herein by reference. Another type of optical elements know to be
used in camera modules are optical fibers, especially in form of
fiber bundles and preferably in form of fiber bundles having an
optical head, as described for example in U.S. patent application
Ser. No. 09/771,140. Different methods can be used to produce such
optical elements, for example as described in U.S. Pat. No.
8,460,060, filed on Jan. 30, 2009 for METHOD FOR CREATING A COMPLEX
SURFACE ON A SUBSTRATE OF GLASS, which is hereby incorporated
herein by reference.
[0211] The optical elements can be transparent as described for
example in U.S. Pat. No. 8,031,224, German patent application No.
102016108247.3, and U.S. patent application Ser. No. 13/242,829,
filed Sep. 23, 2011 for CAMERA ARRANGEMENT AND DOOR HANDLE FOR
MOTOR VEHICLE, which are all hereby incorporated herein by
reference. But the optical elements can also be semi-transparent,
as described in U.S. patent application Ser. No. 09/771,140 and
U.S. patent application Ser. No. 13/090,127, which are all hereby
incorporated herein by reference. Still further, the optical
elements can be completely or partially coated with different type
of coatings to realize different effects, such as for example
anti-reflective coatings as described in U.S. Pat. No. 8,031,224,
chromium-based reflective coatings as described in U.S. Pat. No.
9,181,616, filed on Jan. 24, 2012 for CHROMIUM-BASED REFLECTIVE
COATING, and other coatings, for example for polymeric substrates
as described in U.S. patent application Ser. No. 14/936,024, filed
on Nov. 9, 2015 for COATED POLYMERIC SUBSTRATES and in U.S. patent
application Ser. No. 15/124,310, filed on Feb. 20, 2015 for
DECORATIVE COATINGS FOR PLASTIC SUBSTRATES, which are all hereby
incorporated herein by reference. Preferably the optical elements
are made of a scratch-proof material as described for example in
German patent application No. 102016108247.3, which is hereby
incorporated herein by reference. The optical elements can have
uncoupling structures at certain locations of the optical elements,
and an optical film, for example an extrusion film, and a molded
coating can be applied as described in German patent application
No. 102011103200, which is hereby incorporated herein by reference.
A coating to spectrally and stress control is described in U.S.
patent application Ser. No. 15/124,310, which is hereby
incorporated herein by reference. Different filters can be
integrated into the optical elements such as for example gray
filters or polarization filters, described in U.S. patent
application Ser. No. 14/809,509, filed Jul. 27, 2015 for APPARATUS
FOR LIGHT INTENSITY ADJUSTMENT, which is hereby incorporated herein
by reference.
[0212] Electrochromic substrates, polymer electrolytes and other
charge conducting medias may be used for the optical elements based
on the descriptions of European patent application No. 08103179.1,
filed on Mar. 31, 2008 for PROCESS FOR PRODUCING ELECTROCHROMIC
SUBSTRATES AND ELECTROCHROMIC ARTICLES MADE THEREFROM, European
patent No. 2202826, filed on Dec. 23, 2008 for POLYMER ELECTROLYTES
AND DEVICES CONTAINING, U.S. Pat. No. 7,999,992, filed on Jan. 7,
2005 for CHARGE CONDUCTING MEDIUM_and U.S. Pat. No. 8,537,451,
filed on Mar. 26, 2008 for PROCESSES FOR PRODUCING ELECTROCHROMIC
SUBSTRATES AND ELECTROCHROMIC ARTICLES MADE THEREFROM, which are
all hereby incorporated herein by reference.
[0213] The camera module can also be equipped with apparatuses for
light intensity adjustment as described for example in U.S. patent
application Ser. No. 14/809,509 and light level intensifier tubes
as described in U.S. patent application Ser. No. 09/771,140, which
are all hereby incorporated herein by reference. The electrochromic
substrates and devices used in European patent application No.
08103179.1, European patent No. 2202826, U.S. Pat. No. 7,999,992
and U.S. Pat. No. 8,537,451, which are all hereby incorporated
herein by reference, can also be used for this purpose as well as a
transflector to transmit or reflect light based on a corresponding
input signal, as described in German patent application No.
102016106126.3, filed on Apr. 4, 2016 for IMAGING SYSTEM, which is
hereby incorporated herein by reference.
[0214] The camera module or a cover adapted to the camera module
can be moved using different actuators, drives and/or a flexible
track, as for example described in German application No.
102016108247.3 and U.S. patent application Ser. No. 15/281,780,
which are all hereby incorporated herein by reference.
[0215] Still further, the camera module can also comprise cleaning
elements to clean the optical element facing outwards and being
exposed to the environment. The cleaning element can for example
comprise wipers, brushes, lips, nozzles, fans and similar elements
as are described in European patent application No. 14165197.6,
filed Apr. 17, 2014 for OPTICAL SYSTEM FOR A VEHICLE, CLEANING
DEVICE AND VEHICLE COMPRISING AN OPTICAL SYSTEM, U.S. patent
application Ser. No. 15/281,780, German patent application No.
102016108247.3, European patent application No. 13163677.1, filed
Apr. 15, 2013 for LENS WIPER, European patent application No.
15173201.3, filed Jun. 22, 2015 for LENS CLEANING WITH FLEXIBLE
ACTUATOR and European patent No. 1673260, filed on Oct. 14, 2003
for CLEANING DEVICE which are all hereby incorporated herein by
reference. The cleaning devices are not limited in composition, and
may for example comprise any fabric, elastomeric, sponge, brush, or
combination of these. Special wiper elements comprising wiper arms,
wiper blades, wiping cloth, wiping tissue and combinations thereof
are described in European patent application No. 14165197.6, which
is hereby incorporated herein by reference. A wiper element may for
example be controlled according to the method described in European
patent application No. 130164250.6, filed Apr. 18, 2013 for METHOD
FOR CONTROLLING A WIPER DEVICE, which is hereby incorporated herein
by reference. A reservoir for holding a cleaning liquid as
described in European patent application No. 14165197.6, which is
hereby incorporated herein by reference. Such a reservoir can be
attached to or integrated into the camera module to provide the
cleaning liquid to the optical elements of the camera module.
[0216] Different methods may be used to detect dirt or other
obscurations preventing or reducing the functioning of the camera
module, such as described in U.S. Pat. No. 8,395,514, filed on Jun.
24, 2008 for OPTICAL SYSTEM AND METHOD FOR DETECTING OPTICAL SYSTEM
OBSCURATION IN A VEHICLE, European patent No. 1328141, filed on
January 12, for ASSEMBLY HAVING A CONDUCTOR FROM FLEXIBLE MATERIAL
AND METHOD FOR MANUFACTURING SUCH AN ASSEMBLY, and U.S. Pat. No.
8,031,224, which are all hereby incorporated herein by
reference.
[0217] Also light sources can be installed or integrated into the
camera module to increase the visibility of surrounding objects,
measure distances and directions and detect dirt, such as described
in U.S. Pat. No. 8,031,224, U.S. patent application No. 62/470,658,
filed on Mar. 13, 2017, 2016 for LIGHT EMITTING MIRROR BEZEL and
U.S. patent application Ser. No. 09/771,140, which are all hereby
incorporated herein by reference.
[0218] Different heating means, like heating coils, heating devices
integrated into the lens holder or the bezel, or other heating
elements can be used to impede condensation and icing at the
surface of optical elements, as for example described in German
patent application No. 102016108247.3, U.S. patent application No.
62/470,658, and German patent application No. 102016107545.0, filed
on Apr. 22, 2016 for HEATING DEVICE FOR A CAMERA LENS, which are
all hereby incorporated herein by reference.
[0219] A watertight seal against weather effects, as well as
against the influence of washing processes with detergents,
solvents and high pressure cleaners can be used on the housing of
the camera module as described in U.S. patent application Ser. No.
13/090,127, which is hereby incorporated herein by reference.
[0220] Alternatively, the housing can be made of a body comprising
plastic and conductive material, wherein the conductive material is
dispersed in the plastic material to form a conductive mass to
allow a power source, preferably a DC voltage source, to connect
via at least two electrodes to the body and heat the body
accordingly, as described in German patent application No.
102016107545.0, which is hereby incorporated herein by
reference.
[0221] A conductor track can be embedded within plastic parts of
the camera module as described in European patent No. 1328141 and
U.S. Pat. No. 7,083,311, filed on Jan. 12, 2002 for CONDUCTOR OF
FLEXIBLE MATERIAL, COMPONENT COMPRISING SUCH FLEXIBLE CONDUCTOR,
AND METHOD OF MANUFACTURING SUCH CONDUCTOR, which are all hereby
incorporated herein by reference.
[0222] The camera module can comprise a power harvesting system as
described for example in European patent application No.
09171683.7, filed on Sep. 29, 2009 for SELF SUSTAINING REAR VIEW
MIRROR, which is hereby incorporated herein by reference.
[0223] A fault detection system for electric consumers as described
in U.S. Pat. No. 8,487,633 filed on Jan. 14, 2010 for FAULT
DETECTION OF ELECTRIC CONSUMERS IN MOTOR VEHICLES, which is hereby
incorporated herein by reference, can be used to detect failure of
the camera module.
[0224] Different types of fixings can be used to fix the camera
module to the vehicle or other components, such as for example the
snap-fit connection described in European patent No. 2233360, filed
on Mar. 27, 2009 for SNAP FIT CONNECTION IN A REAR VIEW MIRROR,
which is hereby incorporated herein by reference.
[0225] Different control means and analyzing devices can be used,
such as the computation units described in U.S. patent application
Ser. No. 13/090,127, German patent application No. 102016106126.3,
German patent application No. 102011053999, European patent No.
2146325, filed on July 16, for Recording Device for Receiving,
Processing and Storing Image Files in a Vehicle and Method, and
U.S. Pat. No. 8,849,104, filed on Jul. 16, 2008 for RECORDING
DEVICE AND METHOD FOR CAPTURING AND PROCESSING IMAGE DATA IN A
VEHICLE, which are all hereby incorporated herein by reference. In
addition, HDR (high dynamical range) technology can be used
according to U.S. patent application Ser. No. 14/830,406, filed on
Aug. 19, 2015 for REAR VIEW DEVICE FOR A MOTOR and published as US
20150358590, which is hereby incorporated herein by reference.
[0226] The invention has been described in an illustrative manner.
It is to be understood that the terminology, which has been used,
is intended to be in the nature of words of description rather than
of limitation.
[0227] Many modifications and variations of the invention are
possible in light of the above teachings. Therefore, within the
scope of the appended claims, the invention may be practiced other
than as specifically described.
* * * * *