US 12,322,140 B2
Method for rectification of images and/or image points, camera-based system and vehicle
Aless Lasaruk, Meckenbeuren (DE)
Assigned to Continental Autonomous Mobility Germany GmbH, Hannover (DE)
Appl. No. 18/257,663
Filed by Continental Autonomous Mobility Germany GmbH, Ingolstadt (DE)
PCT Filed Dec. 1, 2021, PCT No. PCT/EP2021/083705
§ 371(c)(1), (2) Date Jun. 15, 2023,
PCT Pub. No. WO2022/128463, PCT Pub. Date Jun. 23, 2022.
Claims priority of application No. 20213975 (EP), filed on Dec. 15, 2020.
Prior Publication US 2024/0054678 A1, Feb. 15, 2024
Int. Cl. G06T 7/80 (2017.01); G06V 20/56 (2022.01)
CPC G06T 7/80 (2017.01) [G06V 20/56 (2022.01); G06T 2207/10016 (2013.01); G06T 2207/30252 (2013.01)] 15 Claims
OG exemplary drawing
 
1. Method for rectification of images and/or image points acquired by at least one camera of a camera-based system of a vehicle with a windshield pane, the method comprising:
acquiring a raw image of a scene with the camera;
selecting raw image data from the raw image, wherein the raw image data is the full raw image, a part of the raw image or a plurality of raw image points of the raw image;
calculating intermediate image data based on the raw image data and on camera parameters, wherein the intermediate image data comprises an intermediate image or a plurality of intermediate image points and wherein the intermediate image data resembles an image or image points of the scene obtained by a pinhole camera through the windshield pane; and
calculating a set of points in space of the scene corresponding to pixels of the intermediate image or to the intermediate image points, using a parallel shift of an optical path induced by the windshield pane based on windshield pane parameters.