METHOD AND SYSTEM FOR DETECTING A RAISED OBJECT LOCATED WITHIN A PARKING AREA

Abstract

A method for detecting a raised object located within a parking area, using at least two video cameras, which are spatially distributed inside of the parking area, and whose respective visual ranges overlap in an overlapping region; the method including the following steps: recording respective video images of the overlapping region, using the video cameras; analyzing the recorded images, in order to detect a raised object in the recorded video images; the analyzing being carried out exclusively by at least one of the video cameras, inside of the video camera(s). A corresponding system, a parking area and a computer program are also described.

Claims

1-15. (canceled)

16. A method for detecting a raised object located within a parking area, using at least two video cameras, which are spatially distributed inside of the parking area, and whose respective visual ranges overlap in an overlapping region, the method comprising: recording specific video images of the overlapping region, using the video cameras; analyzing the recorded video images to detect a raised object in the recorded video images; wherein the analyzing is carried out exclusively by at least one of the video cameras, inside of the at least one of the video cameras.

17. The method as recited in claim 16, wherein the analyzing is carried out with the aid of a plurality of the video cameras, each of the plurality of video cameras analyzing the recorded video images independently of each other.

18. The method as recited in claim 16, wherein a plurality of the video cameras are spatially distributed within the parking area, and at least two of the video cameras of the plurality of video cameras are selected as the video cameras to be used, whose respective visual ranges overlap in the overlapping region.

19. The method as recited in claim 18, wherein the analyzing of the recorded video images is carried out with the aid of one or more of the selected video cameras, inside of the selected video cameras.

20. The method as recited in claim 18, wherein the analyzing of the recorded video images is carried out with the aid of one or more of non-selected ones of the video cameras, inside of the one or more of the non-selected ones of the video cameras.

21. The method as recited in claim 16, wherein the video cameras communicate among each other wirelessly and/or by wire.

22. The method as recited in claim 21, wherein the video cameras communicate among themselves, in order to decide, which of the video cameras the analyzing of the recorded video images is to be carried out.

23. The method as recited in claim 21, wherein the video cameras communicate among themselves, in order to transmit the respectively recorded video images to the at least one video camera with the aid of which the analysis is carried out.

24. The method as recited in claim 16, wherein a result of the analysis is transmitted to a parking area management server of the parking area via a communications network.

25. The method as recited in claim 16, wherein the following steps are provided for detecting the raised object in the recorded video images in accordance with the analysis: rectifying the recorded video images; comparing the rectified video images to each other, in order to recognize a difference in the recorded overlapping regions; and detecting the raised object on the basis of the comparison.

26. The method as recited in claim 16, wherein the at least one of the video cameras, with the aid of which the analysis is carried out, are selected as a function of one or more processing criteria.

27. The method as recited in claim 26, wherein the one or more processing criteria are selected from the following group of processing criteria: specific computing capacity of the video cameras, specific storage capacity utilization of the video cameras, specific transmission bandwidth to the video cameras, specific power consumption of the video cameras, specific computing performance of the video cameras, specific computing speed of the video cameras, specific, current operating mode of the video cameras.

28. A system for detecting a raised object located within a parking area, using at least two video cameras, which are spatially distributed inside of the parking area, and whose respective visual ranges overlap in an overlapping region, the system configured to: record specific video images of the overlapping region, using the video cameras; analyze the recorded video images to detect a raised object in the recorded video images; wherein the analyzing is carried out exclusively by at least one of the video cameras, inside of the at least one of the video cameras.

29. A parking area, including a system for detecting a raised object located within a parking area, using at least two video cameras, which are spatially distributed inside of the parking area, and whose respective visual ranges overlap in an overlapping region, the system configured to: record specific video images of the overlapping region, using the video cameras; analyze the recorded video images to detect a raised object in the recorded video images; wherein the analyzing is carried out exclusively by at least one of the video cameras, inside of the at least one of the video cameras.

30. A non-transitory computer readable storage medium on which is stored a computer program including program code for detecting a raised object located within a parking area, using at least two video cameras, which are spatially distributed inside of the parking area, and whose respective visual ranges overlap in an overlapping region, the computer program, when executed by a computer, causing the computer to perform: recording specific video images of the overlapping region, using the video cameras; analyzing the recorded video images to detect a raised object in the recorded video images; wherein the analyzing is carried out exclusively by at least one of the video cameras, inside of the at least one of the video cameras.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0130] FIG. 1 shows a flow chart of an example method for detecting a raised object located within a parking area.

[0131] FIG. 2 shows a system for detecting a raised object located within a parking area.

[0132] FIG. 3 shows a first parking area.

[0133] FIG. 4 shows two video cameras, which monitor the ground of a parking area.

[0134] FIG. 5 shows the two video cameras of FIG. 4 during the detection of a raised object.

[0135] FIG. 6 shows a second parking area.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0136] In the following, identical reference numerals may be used for the same features.

[0137] FIG. 1 shows a flow chart of an example method for detecting a raised object located within a parking area, using at least two video cameras, which are spatially distributed inside of the parking area, and whose respective visual ranges overlap in an overlapping region.

[0138] The example method includes the following steps: [0139] recording 101 specific video images of the overlapping region, using the video cameras; [0140] analyzing 103 the recorded video images, in order to detect a raised object in the recorded video images; [0141] the analyzing 103 being carried out exclusively by at least one of the video cameras, inside of the video camera(s).

[0142] A detected, raised object may be classified, for example, as follows: motor vehicle, pedestrian, cyclist, animal, baby stroller, other.

[0143] FIG. 2 shows an example system 201 for detecting a raised object located within a parking area. System 201 is configured to execute or implement the method for detecting a raised object located within a parking area.

[0144] System 201 includes, for example, a plurality of video cameras 203 for recording video images, the video cameras being spatially distributed within the parking area. Video cameras 203 each include a processor 205 for analyzing the recorded video images, in order to detect a raised object in the recorded video images.

[0145] System 201 is configured, in particular, to carry out the following steps: [0146] selecting, from the plurality of video cameras 203, at least two video cameras 203, whose respective visual ranges overlap in an overlapping region; [0147] recording a specific video image of the overlapping region, using selected video cameras 203; [0148] analyzing the recorded video images with the aid of a processor 205 or with the aid of a plurality of processors 205, in order to detect a raised object in the recorded video images.

[0149] The analysis of the recorded video images is carried out exclusively in one or in a plurality of the video cameras 203. An analysis by an external data processing device or an external processing unit is not provided.

[0150] FIG. 3 shows an example parking area 301.

[0151] Parking area 301 includes the system 201 of FIG. 2.

[0152] FIG. 4 shows a first video camera 403 and a second video camera 405, which monitor the ground 401 of a parking area. The two video cameras 403, 405 are positioned, for example, on a ceiling (not shown).

[0153] First video camera 403 has a first visual range 407. Second video camera 405 has a second visual range 409. The two video cameras 403, 405 are positioned in such a manner, that the two visual ranges 407, 409 overlap in an overlapping region 411. This overlapping region 411 is part of the ground 401.

[0154] A light source 413 is situated next to second video camera 405, directly on the left; the light source illuminating overlapping region 411 from the direction of second video camera 405.

[0155] There is no raised object on the ground 401. Thus, this means that the two video cameras 403, 405 see or cover the same overlapping region 411. Thus, this means that the two video cameras 403, 405 recognize or see the same image information of overlapping region 411.

[0156] The two video cameras 403, 405 each record video images of overlapping region 411; the video images being rectified. If there is no raised object between overlapping region 411 and video camera 403 or 405, then each of the rectified video images do not differ from each other, at least not within a predefined tolerance (the predetermined tolerance value). Thus, in this case, no difference will be detected, which means that in a corresponding manner, no raised object is detected, as well.

[0157] For example, overlapping region 411 is situated on a traveling region of the parking area. Thus, this means, for example, that motor vehicles may travel on the overlapping region 411.

[0158] FIG. 5 shows the two video cameras 403, 405 during the detection of a raised object 501. Raised object 501 includes opposite sides 503, 505: In the following, side 503 is referred to as the right side (with respect to the plane of the paper). In the following, side 505 is referred to as the left side (with respect to the plane of the paper).

[0159] Generally, raised objects appear different from different sides. Thus, this means that raised object 501 looks different from right side 503 than from left side 505.

[0160] Raised object 501 is located on the ground 401. Raised object 501 is situated between overlapping region 411 and the two video cameras 403, 405.

[0161] First video camera 403 covers left side 505 of raised object 501. Second video camera 405 covers right side 503 of raised object 501.

[0162] Consequently, in this case, the respective, rectified video images differ, which means that a difference is correspondingly detected. Raised object 501 is then detected accordingly. In this case, the differences are greater than the predetermined tolerance value.

[0163] By providing light source 413, right side 503 is illuminated, in particular, more intensely than left side 505. This produces, for example the technical advantage that the recorded and, therefore, the rectified video images, as well, differ in their brightness. Differences in brightness may be detected efficiently, so that the difference may be detected efficiently, which means that in this connection, raised object 501 may be efficiently detected in an advantageous manner.

[0164] Raised object 501 is, for example, a motor vehicle, which is traveling on the ground 401 of the parking area. Sides 503, 505 are, for example, front and rear sides of the motor vehicle, or the right and left sides.

[0165] If a non-raised, that is, two-dimensional or flat object is situated on the ground 401, then, as a rule, the correspondingly rectified video images do not differ from each other within a predefined tolerance. An example of such a two-dimensional object is a sheet, paper or leaves. That, in such a case, an object, albeit not a raised object, is indeed located on the ground 401, which, possibly due to the lack of a difference (differences are less than or less than or equal to the predefined tolerance value), is not detected in the rectified video images, is, here, in this respect, not relevant for safety reasons, since as a rule, such non-raised objects may or can be run over by motor vehicles without a problem. Motor vehicles may run over leaves or paper, without its leading to a dangerous situation or collision, in contrast to a raised object, which may be, for example, a pedestrian or a cyclist or an animal or a motor vehicle. A motor vehicle should not collide with such objects.

[0166] Video images, which are analyzed in accordance with the above explanations in order to detect a raised object in the video images, are recorded by video cameras 403, 405.

[0167] The design of the present invention is now based on the fact that the analysis of the video images is carried out exclusively by the video cameras or by one of the video cameras alone. The video cameras transmit their recorded video images to the video camera or to the video cameras, which is or are intended to carry out the analysis. The transmission includes, for example, transmitting the video images over a communications network, which includes, for example, a wireless and/or a wired communications network.

[0168] The more video cameras that analyze the video images independently of each other, the higher the probability of a correct or reliable result, but at the cost of computing intensity, for example, a processor loading or a duration of the computations.

[0169] The information item, that an object has been detected, is signaled or transmitted, for example, to a parking area management system, which includes the parking area management server. The parking area management system uses this information, for example, for the planning or management of an operation of the parking area. Thus, the parking area management system operates the parking area, for example, on the basis of the information.

[0170] This information is used, for example, in the remote control of a motor vehicle, which is located within the parking area. Thus, this means, for example, that the parking area management system controls a motor vehicle remotely within the parking area on the basis of the detected object(s).

[0171] This information is transmitted, for example, via a wireless communications network, to motor vehicles traveling autonomously inside of the parking area.

[0172] Thus, the present invention is based on the idea of using a plurality of video cameras, which are spatially distributed within a parking area able to take the form of a parking garage, in such a manner, that, for example, every point of a traveling region is seen or covered or monitored by at least two, for example, at least three video cameras. Thus, this means that the respective visual ranges each overlap in overlapping regions; the overlapping regions covering the traveling region. The recorded video images are rectified, for example, prior to the comparison.

[0173] The corresponding, rectified video images of the video cameras are compared to each other, for example, using an image processing algorithm. For example, if all of the video cameras in the traveling region see the same image information at a particular location or at a particular point, it is determined that there is no object in the respective line of sight between the particular location and the video cameras. This being the case, an object is also not detected. However, according to one specific embodiment, if the image information of a video camera at this location differs from the other video cameras, then it is clear that a raised object must be in the line of sight of this one video camera. This being the case, an object is detected.

[0174] In the sense of this description, the phrases the same image information or identical image information also include, in particular, the case, in which the image data differ, at most, by a predetermined tolerance value. Only differences, which are greater than the predetermined tolerance value, result in the detection of an object. Thus, this means, in particular, that small differences in the brightness information and/or color information are permissible for making the statement, that the image information is the same or identical, as long as the differences are less than the predetermined tolerance value.

[0175] Thus, this means that, in particular, e.g., a tolerance is predefined, by which the rectified video images may differ, without a raised object's being detected. A raised object is only detected, if the differences are greater than the predefined tolerance.

[0176] Thus, this means, in particular, that according to one specific embodiment, an object is only detected, when the differences in the rectified video images are greater than a predefined tolerance or a predetermined tolerance value.

[0177] In particular, the design of the present invention is advantageously not model-based with regard to the objects to be detected. For example, the algorithm uses only model knowledge about the parking area, that is, where boundary surfaces of the parking area (e.g., the ground, walls or columns) are located in the traveling region.

[0178] For example, it may be provided that a motor vehicle traveling autonomously or by remote control move within the parking area on surfaces stipulated beforehand, the traveling region. The video cameras are positioned, for example, in such a manner, that their visual ranges overlap in the traveling region. This overlapping is selected in such a manner, that every point on the boundary surfaces (for example, ground, wall) in the traveling region is seen or monitored by at least three video cameras. In particular, the positioning is selected in such a manner, that every point on the boundary surface is viewed or monitored from different perspectives.

[0179] Therefore, this means, in particular, that the overlapping region is covered or recorded from different directions with the aid of the video cameras.

[0180] Now, from every single point of the boundary surface, the lines of sight to the, e.g., three video cameras, which see this point, may be tracked. Should a plurality of video cameras be available, then, for example, it is provided that three video cameras having perspectives as different as possible be selected from the plurality of cameras.

[0181] If there is no raised object in the lines of sight of the video cameras to this point, then all of the video cameras see the same image information or image data of the boundary surface, which differ, at most, by a predetermined tolerance value (cf. FIG. 4).

[0182] If, for example, a brightness or a color of the surface of the ground changes, for example, when the ground is wet due to moisture input, then this does not interfere with detection of the boundary surface, if all of the cameras see the same change in brightness or color. If, for example, a two-dimensional object, e.g., a sheet, paper, or leaves, is lying on the ground, then, as a rule, this non-raised object is not detected in accordance with the design of the present invention, since all of the video cameras see the same image information or image data, which differ, at most, by a predetermined tolerance value.

[0183] In this respect, this is not critical for safety reasons, as such two-dimensional objects may be run over by motor vehicles without any problem.

[0184] If a raised object is in the traveling region (cf. FIG. 5, for instance), then the lines of sight of the video cameras no longer reach the boundary surface (overlapping region) as expected, but the video cameras see different views of the raised object and consequently record different video images.

[0185] A raised object may be, for example, a person or a motor vehicle.

[0186] Thus, for example, one video camera sees the front side of the object, while the other video camera sees the back side of the object. As a rule, the two sides differ significantly, and the raised object may therefore be detected, if the recorded video images differ. This effect may be amplified, for example, by illuminating the scene, that is, the overlapping region, more brightly from one side, so that a failure to notice raised objects may be efficiently ruled out. By illuminating the different sides of an object differently, this object appears brighter on the more intensely illuminated side than on the weakly illuminated side, which means that the video cameras see different image data. This is even true for monochromatic objects.

[0187] FIG. 6 shows a second parking area 601.

[0188] Parking area 601 includes several parking spaces 603, which are positioned transversely with respect to a travel path 602, on which a first motor vehicle 605 travels. A second motor vehicle 607 is parked in one of the parking spaces 603.

[0189] First motor vehicle 605 travels in the direction of arrow 609, from left to right in relation to the plane of the paper.

[0190] Second motor vehicle 607 wishes to leave a parking space, which is indicated by an arrow having the reference numeral 611.

[0191] A plurality of video cameras 613 are spatially distributed within the parking area. Video cameras 613 are drawn schematically as filled-in circles.

[0192] For example, at an edge of travel path 602, video cameras 613 are positioned on the left and right, in a staggered manner. For example, video cameras 613 are each positioned in corners of parking spaces 603.

[0193] Video cameras 613 may be positioned at a handover position, at which a driver of a motor vehicle parks his/her motor vehicle for an automatic parking operation (AVP operation; AVP=automated valet parking). Thus, the motor vehicle parked there begins the automatic parking as of the handover position. Thus, the motor vehicle travels from there automatically, in particular, autonomously or by remote control, to one of the parking spaces 103 and parks there.

[0194] Video cameras 613 may be situated at a pick-up position, at which a driver may pick up his/her motor vehicle after the end of an AVP operation. After the end of a parking period, the motor vehicle parked in a parking space 603 travels automatically, in particular, autonomously or by remote control, to the pick-up position and parks itself there.

[0195] The pick-up position may be identical to the handover position or may be different from the handover position.

[0196] Therefore, video cameras 613 allow efficient monitoring of traffic, in particular, of traffic of motor vehicles traveling automatically, that is, in particular, of motor vehicles traveling driverlessly.

[0197] The design provides detection of the motor vehicles and, on the basis of this, for example, control of the motor vehicles. For example, first motor vehicle 605 is detected. In particular, second motor vehicle 607 is detected. In particular, it is recognized that second motor vehicle 607 wishes to leave a parking space. In particular, it is recognized that first motor vehicle 605 is traveling from left to right. In particular, a possible collision is detected. In particular, second motor vehicle 607 is accordingly stopped by remote control, until first motor vehicle 605 has traveled past second motor vehicle 607.

[0198] These steps of detection are based, in particular, on the analysis of the video images of video cameras appropriately selected.

[0199] The design of the present invention advantageously allows raised objects to be detected or recognized efficiently. In particular, the design of the present invention is highly robust with respect to changes in brightness or point-to-point changes in brightness, for example, due to exposure to sunlight.

[0200] The information item, that a raised object is detected, may be transferred, for example, to a superordinate control system. For example, this control system may stop a remote-controlled motor vehicle or transmit a stop signal to a motor vehicle traveling autonomously, so that these motor vehicles may still stop in time in front of the raised object. The control system is included, for example, in the parking area management system.

[0201] Therefore, the design of the present invention may also be used in the AVP area in an advantageous manner. AVP stands for automated valet parking and may be translated as automatic parking operation. Within the scope of such an AVP operation, it is particularly provided that motor vehicles be parked automatically within a parking area and, after the end of a parking period, be guided automatically from its parking position to a pick-up position, at which the motor vehicle may be picked up by its owner.