US 12,033,337 B2
Method for determining the position of a first image region in a correspondence image, SOC and control device, and system for carrying out the method, and computer program
Stephan Simon, Sibbesse (DE)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Appl. No. 17/627,345
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Jul. 7, 2020, PCT No. PCT/EP2020/069050
§ 371(c)(1), (2) Date Jan. 14, 2022,
PCT Pub. No. WO2021/008926, PCT Pub. Date Jan. 21, 2021.
Claims priority of application No. 10 2019 210 580.7 (DE), filed on Jul. 18, 2019.
Prior Publication US 2022/0262033 A1, Aug. 18, 2022
Int. Cl. G06T 7/33 (2017.01); G06T 7/73 (2017.01); G06V 10/36 (2022.01); G06V 10/44 (2022.01); G06V 10/75 (2022.01)
CPC G06T 7/337 (2017.01) [G06T 7/74 (2017.01); G06V 10/36 (2022.01); G06V 10/44 (2022.01); G06V 10/757 (2022.01)] 17 Claims
OG exemplary drawing
 
1. A method for determining a position of a first image region in a correspondence image that corresponds to at least one second image region in the correspondence image, the method comprising:
providing the first image region having at least one reference position;
providing the correspondence image;
ascertaining a plurality of signature values for different image positions in the first image region, each signature value in the plurality of signature values characterizing a surrounding of a respective image position of the different image positions in the first image region, each image position having a relative offset with respect to the at least one reference position;
assigning first relative offsets of the different image positions in the first image region to respective signature values of the plurality of signature values;
ascertaining a plurality of correspondence signature values for different image positions in the correspondence image, each correspondence signature value in the plurality of correspondence signature values characterizing a surrounding of a respective image position of the different image positions in the correspondence image;
ascertaining second relative offsets for the plurality of correspondence signature values using a mapping;
calculating target positions in the correspondence image by adding the second relative offsets to the different image positions in the correspondence image;
incrementally assigning weighting values to the calculated target positions to form incremental weighting values; and
ascertaining the position of the first image region in the correspondence image by finding an extremum in the incremental weighting values.