3-D ENVIRONMENT SENSING BY MEANS OF THE PROJECTION OF A SERIES OF PSEUDO-RANDOM PATTERNS AND STEREO CAMERA MODULES

摘要

The invention relates to a camera device for a vehicle (1), which camera device ensures 3-D environment sensing, and a method for 3-D environment sensing by means of the camera device. The device and the method can be used in particular in the context of driver assistance systems. The camera device for a vehicle (1) comprises at least two camera modules (21, 22) having at least partly overlapping sensing ranges, a camera control unit, an evaluation unit and a point light projector (3). The point light projector (3) is arranged and configured in such a way that the point light projector (3) projects a light pattern of measurement points (6, 16, 26) into the vehicle environment (10, 11). The at least two camera modules (21, 22) are arranged and configured in such a way that at least part of the projected light pattern is imaged in the overlapping sensing range. The evaluation unit is configured to determine the 3-D position of measurement points (6, 16, 26) in the vehicle environment (10, 11) from image data captured by means of the at least two camera modules (21, 22). The point light projector (3) is configured to produce a series of "pseudo-noise patterns" as the light pattern, the "pseudo-noise patterns" being projected into the vehicle environment (10, 11) in temporal succession (t0, t1,... tn).