A method for automatically determining at least one of the change in the position of a motor vehicle described below, the target variable

摘要

A method for automatically determining at least one of the change in the position of a motor vehicle described below, the target variable,the target variable from a group consisting of at least two temporally successive, of a in a fixed positional relationship with the motor vehicle standing image recording device recorded images determined perspective displacement is determined on the prominent points of orientation,characterized by the,that from the perspective displacement a the rotation of the video pickup device between the receptacle of the two images, and from this rotation matrix describing the target values are determined, for the determination of the rotation matrix:– a fundamentally matrix describing the perspective displacement is determined,– taking into account the made available as input variables, the imaging properties of the video pickup device described below, the intrinsic calibration an essential matrix is determined,– by means of singular value decomposition of the essential matrix four possible, a possible rotation of the video pickup device between the receptacle of the two images are determined to the present invention includes a camera matrices,– for determining the correct camera matrix for at least one orientation point the 3d - reconstruction is determined and is checked whether the reconstructed point in front of the image recording device is,– from the correct camera matrix, the rotation matrix is determined.