Method for representing a harmonized obscured area of an environment of a mobile platform
A method is disclosed for representing an obscured area of a mobile platform environment relative to an object area of a first and second imaging devices of the mobile platform, including determining a delta-area, being the difference of a second obscured area of the environment which is obscured in respect to the object area at a second time step, and a first obscured area of the environment which is obscured in respect to the object area at a first time step. First and second overlap-images, being an overlap of an image of the first imaging device respectively of an image of the second imaging device with the delta-area, are determined, wherein both images are taken at the first time step. A difference of an optical property of the images is determined, and the difference of the optical property is harmonized within at least one of the overlap-images.
1 . A method for representing an obscured area of an environment of a mobile platform in respect to an object area of a first and a second imaging device of the mobile platform, the method comprising:
determining a delta-area, being a difference of a second obscured area of the environment, which is obscured in respect to the object area of the first and second imaging device at a second time step, and a first obscured area of the environment which is obscured in respect to the object area of the first and second imaging device at a first time step;
determining a first overlap-image and a second overlap-image, being an overlap of an image of the first imaging device respectively of an image of the second imaging device with the delta-area;
determining a difference of an optical property of the images of the first and the second imaging device; and
harmonizing the difference of the optical property within at least one of the overlap-images,
wherein at least one of the first overlap image or the second overlap-image is harmonized in respect to an optical propert gradient defined by the difference of the optical property and a portion of a length of the first obscured area, and
wherein the harmonization of the at least one of the first overlap-image or the second overlap-image includes adjusting an optical property value of each pixel of the first or second overlap-image corresponding to the optical property value and a direction of the optical property gradient.
2 . The method according to claim 1 , wherein the difference of the optical property is determined by comparing an optical property of at least one first reference area within the image of the first imaging device and at least one second reference area within the image of the second imaging device.
3 . The method according to claim 2 , wherein the at least one first reference area and the at least one second reference area are areas of the environment were the object areas of both imaging devices overlap.
4 . The method according to claim 1 , wherein the optical property value is at least one of a brightness value or a color value.
5 . The method according to claim 1 , wherein the delta-area is determined using motion data of the mobile platform.
6 . The method according to claim 1 , wherein the first imaging device points into a front direction of the mobile platform and the second imaging device at least partially points into a direction of the motion of the mobile platform.
7 . The method according to claim 1 , wherein the second obscured area is represented by the harmonized second overlap-image, the first overlap-image and a section of a representation of the first obscured area.
8 . The method according to claim 7 , wherein the representation of the second obscured area is stored in between power cycles of the vehicle.
9 . The method according to claim 7 , wherein the representation of the second obscured area is shown on a screen of the mobile platform.
10 . A surround-view-system, arranged to perform the method according to claim 1 .
11 . A mobile platform, preferably a vehicle, including a screen for visualizing a representation of the obscured area, and a surround-view-system according to claim 10 .
12 . A computer program stored on a non-transitory computer-readable medium and comprising instructions, which, when executed by a computer, cause the computer to carry out the method according to claim 1 .
13 . The method according to claim 1 , wherein the first overlap-image comprises the overlap of the image of the first imaging device with the delta-area, and the second overlap-image comprises the overlap of the image of the second imaging device with the delta-area.
14 . The method according to claim 13 , wherein the first overlap-image and the second overlap-image are taken at the first time step.
15 . The method according to claim 13 , wherein the first overlap-image and the second overlap-image are taken at the same time step.
16 . The method according to claim 1 , further comprising composing the first overlap-image and the second overlap-image based upon the harmonization, and initiating a display of the first overlap-image and the second overlap-image on a display screen associated with the mobile platform.