US 11,928,874 B2
Detection of moving objects
Romain Müller, Waldkirch (DE); and Dirk Strohmeier, Waldkirch (DE)
Assigned to SICK AG, Waldkirch (DE)
Filed by SICK AG, Waldkirch (DE)
Filed on May 14, 2021, as Appl. No. 17/320,803.
Claims priority of application No. 102020113183.6 (DE), filed on May 15, 2020.
Prior Publication US 2021/0356268 A1, Nov. 18, 2021
Int. Cl. H04N 5/232 (2006.01); G01C 3/08 (2006.01); G06K 7/14 (2006.01); G06V 10/147 (2022.01); G06V 10/25 (2022.01); G06V 20/64 (2022.01); H04N 23/60 (2023.01)
CPC G06V 20/64 (2022.01) [G01C 3/08 (2013.01); G06K 7/1413 (2013.01); G06K 7/1417 (2013.01); G06V 10/147 (2022.01); G06V 10/25 (2022.01); H04N 23/60 (2023.01)] 13 Claims
OG exemplary drawing
 
1. A method for detecting objects (48) moving in a direction of movement (50), the method comprising:
using an image sensor (18) for recording image data of the objects (48) in a camera field of view (14, 56);
using an optoelectronic distance sensor (24) according to a principle of a time-of-flight method having a plurality of measurement zones (30a) for measuring a plurality of distance values to the objects (48) in a distance measurement field of view (58);
using signals from the image sensor (18) and the distance sensor (24) to measure distance values over a configuration time and to evaluate at least one of the distance values and a change of the distance values, a region where objects (48) move, and to automatically set a region of interest (60) for the distance sensor (24) within the distance measurement field of view (58) by determining an object region as the region where objects (48) move;
determining a statistical measure for changes in the distance values of a respective measurement zone (30a) over a variation time; and
determining a respective maximum value of the distance values of a respective measurement zone (30a) over a background detection time.