Detection and validation of objects from sequential images of a camera by means of homographies

摘要

The invention relates to a method and to a device for identifying objects from images from a camera and can be used in particular in camera-based driver assistance systems. The method for detecting objects from a series of images from a vehicle camera comprises the following steps: a) capturing a series of images by means of the vehicle camera, b) determining corresponding features in two consecutive images, d) determining a plurality of planes in space by associating adjacent corresponding features with a plane in space, f) detecting objects while taking into account the planes determined in step d). According to a preferred embodiment, the method comprises the following step: c) computing homographs for adjacent corresponding features for determining the plurality of planes; and/or d2) associating adjacent corresponding features with a bottom plane, a back wall plane, or a side wall plane. Because the method according to the invention can be designed to be very fast, generic object detection or scene interpretation is possible for nearly the whole image in real time.