Method for quick estimation of perspective concealment in simulation of imaging sensor

Abstract

The invention relates to a method for simulating a sensor system including an imaging sensor and an image processing unit. A virtual test environment comprises a sensor and a plurality of virtual objects, wherein a certain number of virtual objects is recognizable by the simage processing unit. When a first virtual object and a second virtual object are captured by a sensor field of view of the sensor, a projection plane is spanned. A first geometric body that is the same in location and in dimension as the first virtual object and a second geometric body that is in the same location and in dimension as the second virtual object are protected onto a projection plane in the central projection with the location coordinates of the sensor as the center of projection. If there is an intersection of the images of the first geometric body and the second geometric body, the Euclidean distance between the sensor and the first virtual object is less than the Euclidean distance between the sensorand the second virtual object and the size of the intersection exceeds a predefined threshold value, the second virtual object is assumed to be concealed in perspective. Otherwise, the second virtualobject is assumed not to be concealed in perspective.

Description

technical field [0001] The present invention relates to sensor simulation and virtual testing. Background technique [0002] In the development of safety-critical embedded systems, it is known to check these systems for correct functionality in a virtual test environment. In a method known as hardware-in-the-loop (HIL), a prototype of an embedded system is connected to a simulation computer, which provides a largely virtual test environment and provides the embedded system in hard real-time with the aid of virtual test environment generation. input data. Conversely, the simulation computer can read the control signals of the embedded system and take them into account when calculating the state of the virtual test environment in the respective next simulation time step. It is also known in earlier development stages that instead of a prototype an embedded system only incorporates its software or its program logic into a virtual test environment. Such completely virtual tes...

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Problems solved by technology

However, the purpose of this known method is to calculate a realistic image, and its high computational complexity makes it problematic for real-time applications, because after the calculation of the sensor image, according to one of the known methods, it must also be evaluated, the Does clear perspective occlusion also allow occluded objects to be recognized by a simulated sensor system

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