US 12,190,598 B2
Method and device for recognizing an object for a vehicle including a mono camera, and camera system
Michael Miksch, Renningen (DE); and Gregor Schwarzenberg, Calw (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jun. 15, 2022, as Appl. No. 17/841,085.
Claims priority of application No. 10 2021 206 316.0 (DE), filed on Jun. 21, 2021.
Prior Publication US 2022/0406070 A1, Dec. 22, 2022
Int. Cl. G06K 9/00 (2022.01); B60R 11/04 (2006.01); B60W 30/09 (2012.01); B60W 50/14 (2020.01); G06T 7/194 (2017.01); G06T 7/73 (2017.01); G06V 20/56 (2022.01)
CPC G06V 20/56 (2022.01) [B60R 11/04 (2013.01); B60W 30/09 (2013.01); B60W 50/14 (2013.01); G06T 7/194 (2017.01); G06T 7/73 (2017.01); B60R 2300/10 (2013.01); G06T 2207/30252 (2013.01)] 12 Claims
OG exemplary drawing
 
11. A camera system for a vehicle, comprising:
a mono camera; and
a device for recognizing an object for a vehicle, the device configured to:
read in a first image signal that represents a first camera image, recorded by the mono camera, that depicts surroundings of the vehicle,
read in at least one second image signal that represents a second camera image, recorded by the mono camera, that depicts the surroundings of the vehicle,
select first pixels, situated on an image line of the first camera image, from the first image signal,
identify second pixels from the second image signal, the second pixels corresponding to the first pixels,
form a flux signal using the first pixels and the second pixels, the flux signal representing an optical flux profile for the first pixels situated along the image line,
segment the flux profile represented by the flux signal into a plurality of segments, each of which represents a plane in the surroundings of the vehicle, and
determine an object signal that represents a recognized object, using at least one of the plurality of segments.