US 11,719,825 B2
Method and device for determining a parallax problem in sensor data of two sensors
Simon Steinmeyer, Braunschweig (DE); Thorsten Graf, Gifhorn (DE); and Michael Schlichte, Braunschweig (DE)
Assigned to Volkswagen Aktiengesellschaft
Filed by VOLKSWAGEN AKTIENGESELLSCHAFT, Wolfsburg (DE)
Filed on Aug. 5, 2020, as Appl. No. 16/985,256.
Claims priority of application No. 10 2019 212 021.0 (DE), filed on Aug. 9, 2019.
Prior Publication US 2021/0041235 A1, Feb. 11, 2021
Int. Cl. G06K 9/00 (2022.01); G01S 17/931 (2020.01); G01C 3/08 (2006.01); G01S 17/894 (2020.01); G06T 7/521 (2017.01); G06F 18/22 (2023.01); G06V 10/80 (2022.01); G06V 10/98 (2022.01); G06V 20/56 (2022.01)
CPC G01S 17/931 (2020.01) [G01C 3/085 (2013.01); G01S 17/894 (2020.01); G06F 18/22 (2023.01); G06T 7/521 (2017.01); G06V 10/803 (2022.01); G06V 10/98 (2022.01); G06V 20/56 (2022.01); G06T 2207/10028 (2013.01); G06T 2207/30252 (2013.01)] 10 Claims
OG exemplary drawing
 
6. A method for detecting a parallax problem in sensor data from a first sensor and a second sensor, wherein the first and second sensors are spaced apart at different positions and at least partly capture the same environment, the first sensor configured to provide distance information items, the method comprising:
receiving the acquired sensor data from the first and second sensors, the acquired sensor data from the first sensor includes at least one first distance value for at least one first point in the environment based on the first sensor, the at least one first distance value measuring a distance from the first sensor to the at least one first point;
receiving or estimating visual range information items for the at least one first point from the second sensor based on sensor data acquired from the second sensor such that the computing device is configured to determine at least one second distance value for the at least one first point based on the second sensor, the at least one second distance value measuring a distance from the second sensor to the at least one first point or to at least one object located in the environment between the second sensor and the at least one first point;
assigning measured values, which include the at least one first distance value, in the acquired sensor data of the first sensor to corresponding measured values, which include the at least one second distance value in the acquired sensor data of the second sensor such that the at least one first point in the environment is represented by at least the at least one first distance value as measured by the first sensor and the at least one second distance value as measured by the second sensor, the assignment taking into account the respective imaging conditions of the two sensors;
comparing the at least one first distance value to the at least one second distance value in order to determine a comparison distance measure indicative of a distance between a point on the at least one object at which the second sensor measures against and the at least one first point;
determining whether a parallax problem exists in response to the comparison distance measure exceeding a threshold criterion value; and
outputting a comparison result of the comparison between the at least one first distance value and the at least one second distance value.