DE-102024210808-A1 - Methods for improving the image quality of images from a camera system

Abstract

The invention relates to a method, in particular a computer-implemented method, for improving the image quality of images (B) from a camera system (1) of a vehicle (5) with at least one camera (2) and an actuator (3), which actuator (3) is arranged and/or configured relative to the camera (2) such that a movement of at least one component of the camera (3) along at least one degree of freedom can be controlled by means of the actuator (3), a corresponding camera system (1), a computer program for executing the method, and a computer program product. The method according to the invention comprises the following process steps: - Determining the angular velocity (k) of the vehicle (5), - Moving the actuator (3) into a starting position (P Start ) corresponding to a starting pose (P 1 ) for the camera (2) relative to the vehicle (5), and - Taking at least one image (B) with the camera (2) with a predefinable exposure time (t b ), wherein the actuator (3) is moved from the starting position (P Start ) to a target position (P Target ) corresponding to a target pose (P 2 ) for the camera (2) relative to the vehicle (5) during a duration of the predefinable exposure time ( t b ) by means of a control signal (S) and depending on the determined angular velocity (k).

Inventors

• Gerrit Best

Assignees

• AUMOVIO AUTONOMOUS MOBILITY GERMANY GMBH

Dates

Publication Date

20260513

Application Date

20241111

Claims (13)

1. A method, in particular a computer-implemented method, for improving the image quality of images (B) from a camera system (1) of a vehicle (5) with at least one camera (2) and an actuator (3), which actuator (3) is arranged and/or configured relative to the camera (2) such that a movement of at least one component of the camera (3) along at least one degree of freedom can be controlled by means of the actuator (3), wherein the method comprises the following steps: - determining an angular velocity (k) of the vehicle (5), - moving the actuator (3) to a starting position (P_Start ) corresponding to a starting pose (P ₁) for the camera (2) relative to the vehicle (5), and - capturing at least one image (B) with the camera (2) with a predefinable exposure time (t_b ), wherein the actuator (3) is moved from the starting position (P_Start ) to a starting position (P₁) by means of a control signal (S) and depending on the determined angular velocity (k) for a duration of the predefinable exposure time (t_b). The target position (P target ) is moved according to a target pose (P 2 ) for the camera (2) relative to the vehicle (5).
2. Procedure according to Claim 1 , wherein the control signal (S) and the predefinable exposure time (t b ) are synchronized to capture the image (B).
3. Procedure according to Claim 2 , wherein the control signal (S) and the predefinable exposure time (t b ) for capturing the image (B) are synchronized such that the actuator (3) switches between capturing two successive images of the The target position (P target ) can be moved to the starting position (P start ).
4. Method according to one of the preceding claims, wherein the actuator (3) is controlled such that the at least one component of the camera system (1) performs a movement at a constant speed.
5. Method according to one of the preceding claims, wherein a yaw rate is determined, and wherein the yaw rate is determined in particular by reference to a steering angle of the vehicle (5).
6. Procedure according to Claim 5 , where the control signal (S) is determined based on the yaw rate.
7. Method according to one of the preceding claims, wherein an image sequence comprising at least two images (B) is recorded, and wherein a movement of the vehicle (5) is determined on the basis of the images of the image sequence.
8. Procedure according to Claim 7 , wherein the control signal (S) is determined based on the detected movement of the vehicle (5).
9. A method according to one of the preceding claims, wherein image stabilization is performed.
10. Use of the method according to one of the preceding claims for a driver assistance system.
11. Camera system (1) for a vehicle comprising at least one camera (2) and one actuator (3), which actuator (3) is arranged and/or configured relative to the camera (2) such that a movement of at least one component of the camera (3) along at least one degree of freedom can be controlled by means of the actuator (3), which camera system (1) is configured to perform the method according to at least one of the Claims 1 until 9 to execute.
12. A computer program containing instructions which, when executed by a computer, cause the computer to perform the procedure according to one of the Claims 1 until 9 to execute.
13. Computer program product on which the computer program is run according to Claim 12 is stored.

Description

The present invention relates to a method, in particular a computer-implemented method, for improving the image quality of images from a camera system with at least one camera, a camera system for carrying out the method according to the invention, as well as a computer program and a computer program product. Today's advanced driver-assistance systems (ADAS) offer drivers a wide range of functions. These functions can be used to support the driver while maintaining control of the vehicle. Depending on the level of automation, fully automated driving is also possible. Examples of such ADAS functions include various methods for detecting objects or obstacles on the road, methods for detecting lane markings and/or keeping the vehicle in its lane, methods for detecting rain on the windshield, and methods for assisting with or performing parking maneuvers. These and other functionalities are often based, at least in part, on images captured by cameras mounted on the vehicle. For many common ADAS functions, three-dimensional perception of the vehicle's surroundings is a necessary prerequisite. Sensor systems used for this task can include, for example, a camera system with at least one camera to capture the vehicle's environment. Camera-based sensors offer the advantage of high lateral resolution. In addition to monocular cameras, camera systems with multiple cameras, such as stereo camera systems, are frequently used. One problem with camera-based ADAS systems is handling images captured in low-light conditions, i.e., poor lighting or visibility, especially at night or in twilight. In such cases, the image data quality deteriorates significantly, with the consequence that information can no longer be extracted from the image data, or at least not reliably. This, in turn, limits the functionality of the ADAS systems that rely on the image data received from the camera system. To improve image quality in low-brightness environments, constructive measures are taken regarding the camera systems used, as well as various optimizations of different recording parameters or a wide variety of image processing methods. Besides the presence of image noise, the presence of motion blur plays a particularly important role here. Motion blur is closely related to the exposure time for capturing the respective image. The exposure time, in turn, is determined by various shooting modes for the specific camera system. In poor visibility conditions, longer exposure times are often necessary to detect a sufficient number of photons. Furthermore, an optimal exposure time often also depends on any flickering of light sources within the camera system's field of view. However, comparatively long exposure times more frequently lead to motion blur, especially if the camera system and/or objects within its field of view are moving and shifting during image capture. In the case of automotive camera systems mounted on vehicles that capture images while the vehicle is in motion, motion blur is therefore common, particularly when cornering. Various methods exist for reducing or eliminating motion blur in camera images. For example, (optical) image stabilization compensates for spatial shifts in the camera's field of view during image capture by a targeted counter-movement of the camera, such as one or more lenses or the image sensor. Such compensations are often implemented using fast, closed-loop control systems. The shift is determined, for example, by an inertial measurement unit (especially a high-speed measurement unit), and an actuator is controlled accordingly to execute the (counter-)movement of the camera. Optical image stabilization is primarily used to compensate for minor spatial shifts in the field of view during image capture, such as those caused by camera shake. Other causes of motion blur are either not compensated or only partially compensated. Based on this, the present invention aims to provide a simple, efficient and cost-effective way to improve to provide improved image quality for camera images. This problem is solved by the method according to claim 1, the camera system according to claim 11, the computer program according to claim 12 and the computer program product according to claim 13. With regard to the method, the problem underlying the invention is solved by a method, in particular a computer-implemented method, for improving the image quality of images from a camera system of a vehicle with at least one camera and an actuator, which actuator is arranged and/or designed relative to the camera in such a way that a movement of at least one component of the camera, in particular an optical element of the camera, for example a lens, or an image sensor of the camera, along at least one degree of freedom can be controlled by means of the actuator. The procedure includes at least the following procedural steps: - Determining the angular velocity of the vehicle - Moving the actuator into a starting position corresponding