Method for providing data
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- ROBERT BOSCH GMBH
- Filing Date
- 2023-06-22
- Publication Date
- 2026-06-24
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
[Technical field]
[0001] The present invention relates to a method for providing data. Furthermore, the present invention relates to a computer program and an apparatus for this purpose. [Background technology]
[0002] It is known from the prior art that data related to vehicle functions, such as driver assistance systems, are continuously captured and stored in vehicles. For example, these data include information about the vehicle's environment, in particular image recordings by at least one camera of the vehicle. Furthermore, the data can also include further information captured in the vehicle. This data allows, among other things, the reconstruction of the driving situation and the optimization of the driver assistance. Thus, as soon as there is access to a broadband connection, such as, for example, a data cable or WLAN, the data can be read out via this connection. In contrast, if there is only a mobile communication network connection, it is often not possible to transmit all the relevant data, since the amount of data that can be transmitted is limited by the bandwidth of the data connection.
[0003] Furthermore, various methods of data compression are known from the prior art, which allow the amount of data to be compressed, but only to a limited extent. For example, lossy compression, although effective, has the drawback that data may be corrupted. Lossless data compression, on the other hand, is often insufficient to completely transmit the desired data.
[0004] Here, lossless data compression refers to methods that allow for the restoration of a bit-exact copy of the original, but have a low compression ratio, whereas lossy data compression methods offer stronger compression but do not allow for bit-exact restoration. Summary of the Invention [Means for solving the problem]
[0005] The subject of the present invention is a method with the features of claim 1, a computer program with the features of claim 12 and an apparatus with the features of claim 13. Further features and details of the invention emerge from the respective dependent claims, the description and the drawings. Features and details mentioned here in connection with the method according to the invention naturally also apply in connection with the computer program according to the invention and the apparatus according to the invention and vice versa, respectively, so that reference is or can always be made alternately with respect to the disclosure to the individual aspects of the invention.
[0006] The method according to the invention is advantageously useful in particular for providing data in a vehicle, preferably for transmission via a data connection. The vehicle can be implemented, for example, as a car and / or a passenger car and / or a truck and / or an autonomous vehicle. The vehicle can be equipped with a device according to the invention for automatically and repeatedly executing the method according to the invention. Furthermore, within the scope of the invention, it is also possible that optionally a vehicle function is executed by processing the data, preferably the vehicle function being a driving assistance system of the vehicle.
[0007] In particular, the method according to the invention comprises the steps of: - determining data in one vehicle or in said vehicles, preferably the data being determined by a capture device in the vehicle and preferably then stored volatile or non-volatile and / or temporarily in the vehicle; - performing a preparation of the determined data, in particular in the form of a digital data processing of the data, preferably in which during the preparation a (first) data component of the data is removed and preferably a second data component of the data is maintained, preferably an artificially generated and / or reproducible replacement component being defined by the replacement information as an approximation to the removed (first) data component, to prepare the data for data compression; - performing a data compression of the prepared data, in particular the remaining second data components and possibly the replacement information, without performing a data compression of the removed first data components, in order to obtain therefrom data compressed by the data compression; - initiating and / or executing a transmission of data compressed by data compression, preferably via a data connection, preferably via a mobile communications network, advantageously with replacement information being transmitted instead of the data component, It is contemplated that the steps are performed automatically, preferably sequentially in a specified order, and / or repeatedly.
[0008] This has the advantage that more relevant data can be transmitted even if the data connection used for this is only a lower bandwidth connection, such as a mobile communication connection. The data can now be compressed much more strongly than is possible in many conventional methods. At the same time, data corruption can be avoided, since not only is the (first) data component removed, but a replacement component is additionally provided as an approximation to the removed data component.
[0009] The replacement component may be generated artificially and / or may be reproducible. This means that the replacement component is not obtained from a modification or alteration of the data component, but may be generated completely artificially based on replacement information without knowledge of the data component. For this purpose, a generator, such as a random number generator, is used, which may generate the replacement component, for example as a matrix or vector of random numbers, based on replacement information, for example a seed. This has the advantage that it is not necessary to transmit the replacement component itself, but only the replacement information. Here, the replacement information may be only a key, such as a seed key, and may therefore have a data size of a few bits, which is significantly smaller than the replacement component and the removed data component. For example, the replacement information has at most 1% of the data size of the replacement component and / or the removed data component.
[0010] Furthermore, within the scope of the present invention, it is conceivable that the (first, removed) data components are noise components of the data and / or that the replacement components are artificially generated noise, in particular pseudo-noise. The removed data components can be specific components of the data that can be characterized and selected according to predefined, in particular statistical, criteria. Once the data components have been removed, the prepared data can only comprise the data components remaining after removal (in the context of the present invention, the removed data components are also called first data components and the remaining components are also called second data components). The remaining components can comprise relevant information content, such as a record of the vehicle's environment. On the other hand, the removed data components can comprise smaller, mainly random information content and can represent only statistically distributed energy, for example as noise.
[0011] Within the scope of the present invention, it may be contemplated that the data compressed by the data compression and the replacement component based on the replacement information are restored bit-identically after transmission, and preferably, the data compression is performed in the form of lossless data compression for this purpose. However, in combination with the preparation, a lossy data compression of the data may occur, since here a data component is removed and lossless data compression is applied only to the remaining components of the data. "Bit-identical" means in particular that each bit of the data can be restored to be identical and therefore lossless.
[0012] In particular, the idea of the present invention is that by removing data components, in particular noise components, of the data, a much higher compression ratio can be achieved than in the case of conventional methods. The removed data components may contain a more random and statistically distributed information content, so that compression is only possible inefficiently. Instead, the mainly random content of the removed data components allows them to be statistically approximated, and thus their replacement by artificially generated replacement components is possible. On the other hand, the data components remaining after the removal cannot be statistically imitated, since they have a mainly non-random information content, but can nevertheless be better compressed due to their extensive redundant information. In other words, the determined data may consist of a random first data component, in particular noise, and a second data component with a high proportion of redundant information. When the data is realized as image data, the first data component may be the (superimposed) noise component of the image, and the second data component may be the remaining component of the image after the noise has been subtracted. This is also true for each pixel of the image, which may consist of a first data component (random, noise) and a second data component (redundant). In particular, a lossless data compression can be applied to the second (redundant) data component. Meanwhile, the first data component can be replaced by a substitute component, in particular based on a noise model. The substitute component does not need to be transmitted and can be reconstructed bit-identically based on the substitution information, thus reducing the data size to be transmitted. This procedure can also be understood as lossy data compression, since the substitute component corresponds (only) approximately to the data component, while the original data component is irretrievably lost. In other words, this lossy data compression on the first data component is combined with a lossless data compression on the second data component. This allows a compressed amount of data to be transmitted.
[0013] Since the first data component is removed and is also not reproducible, the method according to the invention can include a lossy data compression, where the first data component is lost, but the remaining second data component is possibly losslessly compressed. To avoid data corruption, a replacement component can be generated instead of the data component. After transmission, the replacement component can be reversibly, in particular bit-identically reproduced and applied again to the transmitted data. As a replacement component, for example, a reproducible pseudo-noise can be used. Here, the replacement component does not replace the removed data component bit-identically, but comes very close to the removed data component. This application of a reproducible pseudo-noise can achieve a high compression ratio. The remaining components of the data and the replacement component can be restored bit-identically after transmission. When the removed data component is a noise component of the data, the replacement of the noise component by the replacement component can also be called noise replacement. Noise replacement allows a large part of the random noise in the data, which can be characterized by an input noise model, to be replaced by a pseudo-noise, which is characterized by a target noise model.
[0014] Furthermore, within the scope of the present invention, it is conceivable that the substitution component is defined by determining substitution information, in particular a seed key for a generator such as a random number generator, and that the substitution component is preferably reproduced later, in particular after the transmission of the data, by the substitution information. The substitution information thus uniquely defines the substitution component, i.e. for example a pseudo-noise, so that the substitution component can be reproduced bit-identically based on the substitution information. For this purpose, for example, the substitution information from a generator, in particular a random number generator, is used to generate the substitution component in the form of a two-dimensional matrix. The seed key may for example be determined by measuring the noise characteristics of the (real) capture device. The statistics of this pseudo-noise thus correspond, possibly, to the statistics of the noise actually occurring in the capture device, but are bit-identically reproducible.
[0015] Furthermore, it may be possible for the acquisition device to perform acquisition in the vehicle's environment or on the vehicle, to determine data based on the acquisition, and to execute vehicle functions by processing the data. Correspondingly, the data can also be realized as sensor data, in particular image data. The acquisition device is, for example, an image sensor and is thus suitable for performing a recording of a camera image. The image data can be realized as an image recording. The image recording can each include at least a two-dimensional or three-dimensional image and therefore also a series of images in the sense of, for example, video recording and / or radar imaging.
[0016] Advantageously, within the scope of the present invention, it may also be envisaged that the capture includes recording of content related to vehicle functions, in particular of objects in the vehicle's environment, and that after removal of the data components, the data still includes remaining components characteristic of the relevant content, while the removed data components have a predominantly random content based on at least one parameter of the capture device, and the replacement information is defined based on the at least one parameter. The image data, i.e. in particular each pixel of the image data, may include a noise component. The noise component may have a predominantly random content, in particular the data component that is removed in the method according to the present invention. The remaining components may be characteristic of the relevant content. The random content may be noise and may be substantially based on the parameters of the capture device.
[0017] The capture device, preferably the image sensor, can be characterized by at least one of the following parameters that influence the noise of the determined data or image data, these parameters being preferably the noise characteristics of the capture device: - quantum efficiency, - read noise, - Black level, - Gain Define.
[0018] The capture device is, for example, an image sensor, for example a CMOS or CCD image sensor. The data, in particular the image data, can also be realized as raw data of the capture device, in particular the image sensor. In order to identify a replacement component so as to approach the removed data component, it can be provided that the replacement component is generated depending on at least one of the parameters of the capture device. For this purpose, the parameters are, for example, supplied to a noise model.
[0019] Furthermore, within the scope of the present invention, the determination of the data may be - performing a determination by an image sensor, the image sensor providing the determined data in the form of image data. It may be contemplated to include:
[0020] In addition, the preparation is carried out - performing removal of data components in the form of noise components by noise reduction, whereby the prepared data is generated in the form of noise-reduced image data. may include.
[0021] Furthermore, after transmission, - decompressing the transmitted data, such that the components of the data remaining after removal of the data components are restored bit-to-bit identically; - generating a replacement component based on the replacement information, the replacement component being restored bit-wise identical; - introducing, in particular applying, a substitution component to the decompressed data, whereby the data are provided as an approximation to the determined data; - processing the data including the introduced substitution components, in particular for the reconstruction of the recorded driving situations of the vehicle; may be carried out.
[0022] This allows optimization of vehicle functions based on the transmitted data. Furthermore, especially before the execution of the preparations, - determining at least one parameter of a noise model based on the noise characteristics of the image sensor and / or based on the determined noise assessment of the image data and defining a replacement component in the form of a pseudo-noise as an approximation to the removed noise component. It is advantageous if the following is carried out:
[0023] The substitution component may be a pseudo-random, and thus artificially generated, and therefore predictable, noise, where the noise may be generated by a noise model in which the unpredictable noise of the capture device is mimicked.
[0024] Furthermore, within the scope of the present invention, optionally, the preparation is carried out - introducing at least one additional piece of information, in particular an additional bit, into the data, which additional piece of information is also transmitted during transmission and is then verified in order to detect errors during transmission; - introducing at least one watermark into the data, the watermark being also transmitted during the transmission; - performing image rectification and / or correction of the data; - embedding at least one metadata information in the data; - embedding at least one reference point in the data for verifying the position of the capture device on the vehicle; It is possible to include at least one of the following:
[0025] The data may include at least one data container, such as a container file, which may include both image data and other data, such as metadata and / or additional and / or replacement information.
[0026] After transmission and decompression, the possibly completed additional bits can be compared with a reference to detect if an error occurred during transmission. A watermark can be introduced into the compressed data to detect corruption by a third party. It is also possible that the comparison of the actual noise (i.e. the first data component) with the generated parameterized pseudo-noise (i.e. the substitution component) can provide a reference to the operating point of the sensor.
[0027] A subject of the invention is likewise a computer program, in particular a computer program product, comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out the method according to the invention. The computer program according to the invention therefore offers the same advantages as those detailed with reference to the method according to the invention.
[0028] The computer may, for example, be a data processing device for executing a computer program. The computer may comprise at least one processor for executing the computer program. A non-volatile data memory may also be provided in which the computer program is stored and from which it can be read by the processor for execution.
[0029] Likewise, a subject of the invention may be a computer-readable storage medium containing a computer program according to the invention. The storage medium is configured, for example, as a data memory, such as a hard disk and / or a non-volatile memory and / or a memory card. The storage medium may, for example, be integrated into the computer.
[0030] Additionally, the methods according to the present invention may be realized as computer-implemented methods. The subject of the invention is likewise a data processing device designed to carry out the method according to the invention, which therefore offers the same advantages as those detailed with reference to the method according to the invention, which data processing device can optionally also be configured as a distributed data processing system, partly located within the vehicle and partly outside the vehicle.
[0031] Further advantages, features and details of the invention will become apparent from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings, in which each of the features mentioned in the claims and in this specification may be essential to the invention individually or in any combination. [Brief description of the drawings]
[0032] [Figure 1] 3 shows method steps of the method according to the invention; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0033] In the following figures, the same reference numbers are used for the same technical features in different exemplary embodiments. In Fig. 1 the steps of a method 100 for providing data 210 according to the invention are shown. As an example a capture device 10 is shown, which can be configured as an image sensor 10, also called an imager. The image sensor 10 can be a chip with a defined resolution, frame rate and noise characteristics. Digital images determined by such an image sensor 10 usually contain a high level of entropy, which can be mainly attributed to sensor noise. The presence of this noise is an important aspect that gives the image its natural statistical properties. The removal of this noise can cause processing algorithms applied to the image, for example in the framework of further processing 170, to provide different results than in the case of an image still containing this noise. The data 210 will therefore be corrupted. However, the presence of noise significantly limits the data reduction achievable by lossless compression.
[0034] It will be explained in more detail below how the use of substitution component 230 allows higher compression ratios to be achieved while maintaining a realistic noise profile and avoiding corruption of the content.
[0035] The capture device 10 may be part of the vehicle 1 and may perform capture 140 in the environment of the vehicle 1 or on the vehicle 1 itself. The data 210 may be determined based on the capture 140 and may be, for example, sensor data output by the capture device 10. The capture 140 may include content related to vehicle functions, in particular a record of objects in the environment of the vehicle 1. Furthermore, by processing of the data 210, the vehicle functions may be realized. Further processing 170 may also be provided outside the vehicle 1 to monitor and / or optimize the execution of the vehicle functions. For this further processing 170, a transmission 130 of the data 210 to the receiver 30 via a data connection 2 is necessary. For example, a mobile communication network 2 may provide a data connection through which the data 210 is transmitted 130 as mobile data 210.
[0036] According to a first method step, a determination 101 of the data 210 in the vehicle 1 is performed. Here, the data can be temporarily stored, for example after capture 140, and transmitted at a later time in the presence of a data connection 2. For this, it is possible to repeatedly detect whether the data connection 2 is available and then start the method step. For transmission 130, a preparation 110 of the determined data 210 can be performed, in which a data component 220 of the data 210 is removed and an artificially generated and reproducible replacement component 230 is defined by replacement information 231 as an approximation to the removed data component 220, to prepare the data 210 for one particularly lossless data compression 120. Here, after removal of the data component 220, the data 210 can still include a remaining component 240 that is particularly suitable for the lossless data compression 120. The removed data component 220 can also be called the first data component 220 and the remaining component 240 can also be called the second data component 240.
[0037] The preparation 110 step can be at least partially performed by the generator 20. Furthermore, in this step, an optional addition of further information to the data 210 can be performed, for example additional information 260 and / or a watermark 250. Then, a data compression 120 of the prepared data 210 can be performed and a transmission 130 of the data 211 compressed by the data compression 120 can be initiated and / or performed via a data connection 2, preferably via a mobile communication network 2. Here, the removed data component 220 is not transmitted, and instead of the data component 220, a substitution information 231 is transmitted together with the remaining component 240. Here, the removed data component 220 can be a noise component 220 of the data 210 and the substitution component 230 can be an artificially generated noise 230, in particular a pseudo-noise 230.
[0038] The substitution component 230 may be defined at the time of preparation 110 by the definition of substitution information 231, in particular a seed key for the generator 20 or the random number generator 20. The substitution component 230 may then be generated by the substitution information 231 and thereby reproduced, in particular after the transmission 130 and decompression 150 of the data 210. With regard to the definition and / or generation 160 of the substitution component 230, it may also be envisaged that the substitution component 230 is generated in the form of pseudo-noise 230 by use of the generator 20. To enable a bit-identical recovery of the substitution component 230, the generator 20 may be configured with defined initial conditions, in particular depending on a target noise model (called noise model for short). The initial conditions may be defined and transmitted by the substitution information 231.
[0039] Optionally, the generated pseudo-noise 230 can be added at a later point to the noise reduced data 210, particularly the image data 210, such that the resulting pseudo-noise image closely mimics a desired noise model, which may be suitable to mimic the capture device 10 or image sensor 10.
[0040] Furthermore, FIG. 1 shows a computer program 40 according to the invention for carrying out the method steps and a data processing device 50 according to the invention. Removal of data components 220 may include removing most of the noise from data 210, particularly image data 210, for example by noise reduction, possibly correcting for sensor-specific noise, fixed pattern noise, or non-uniform photosensitivity, etc. After this step, prepared data 210 is obtained, which may also be referred to as noise-reduced data 210.
[0041] The prepared data 210 can be transmitted losslessly compressed. Here, the data 210 can optionally include, in addition to the data content, a noise model with at least one corresponding parameter (i.e., in particular the substitution information 231 or a seed key), as well as preferably metadata and / or further additional information 260. The at least one parameter can be stored in the data 210 itself, or in the further data, or in a separate file, for example using a steganographic key. A lossless compression, for example 5-10 times, can be performed, preferably using a lossless codec defined in the JPEG2000 standard or user-defined. Examples are lossless JPEG compression or PNG compression, or ZIP compression. The at least one parameter of the pseudo-noise can optionally be stored together with the compressed data 210. The decompression 150 can be performed by first decompressing the data 210 with the same lossless codec, and then generating and adding the pseudo-noise to the data 210 based on the at least one parameter.
[0042] Exemplary variants of the method steps according to the invention are described in more detail below. Here, the determined data 210 are each a value x iThe data 210 may then be realised as image data 210 comprising a number of pixels i having a first data component 220, i.e. a noise component 220, and a remaining second data component 240, which comprises some redundant information. This means that the two data components 220, 240 may be superimposed. The removal of the first data component 220 in the framework of the preparation 110 of the data 210 may be effected, for example, by noise reduction. For the noise reduction, conventional noise reduction techniques may be used. For this purpose, a noise model is usually utilized. The prepared data 210 may then only comprise the remaining component 240, and thus the noise reduced data 210. For example, a Poisson-Gaussian model may be used as the noise model, with the value x i The estimated standard deviation σ of pixel i with i teeth,
[0043]
number
[0044] where the noise parameters for this model are a. These are particularly correlated with the signal amplification in the image sensor 10. The black level of the image sensor 10 can be given by x0. Furthermore, b can represent a parameter related to the read noise of the image sensor 10. This noise model is preferably suitable for raw CCD and CMOS image data, although simplified models can also be used in which the noise is assumed to have a standard deviation σ0 that is independent of the pixel value. In this case, the number of noise bits per pixel i for integer-valued image data 210 is given by
[0045]
number
[0046] This number can be, for example, 6 to 8 bits. Then, by noise reduction techniques, the respective value x of pixel i can be calculated as i With respect to the noise reduction value y i For example, for each pixel i, we can determine a pseudorandom number R i A pseudorandom number generator 20 with a seed S is used for this purpose to generate the noise-reduced pixel values y of the noise-reduced data 210, where S can be an integer. i can be calculated, for example, by the following formula:
[0047]
number
[0048] When generating the noise-reduced data 210 by the noise reduction technique, the first data component 220 is removed. Correspondingly, the first data component 220 may represent the difference between the original determined data 210 and the prepared noise-reduced data 210. Here, the first data component 220 may include the maximum component of the natural noise in the determined data 210.
[0049] After the removal of the data component 220, a replacement component 230 can be defined. The replacement component 230 may be a pseudo-noise 230, which should be as close as possible to the removed noise. The replacement component 230 can be generated based on the replacement information 23, in this example a seed key. For this purpose, a target noise model can be utilized. In the simplest case, the seed key can be arbitrarily predefined with respect to this target noise model and stored persistently with respect to the method according to the invention. The definition of the replacement component 230 therefore does not require any additional calculation steps. Alternatively, the seed key can also be calculated based on the removed data component 220, for example using an optimization method for noise estimation in the removed data component 220. The seed key can then be defined such that the replacement component 230 is as close as possible to the removed data component 220. Furthermore, the seed key can also be defined based on the noise characteristics of the capture device 10, such that the replacement component 230 generated therefrom is as close as possible to the removed data component 220. For this purpose, the seed key can also be determined empirically or based on a model.
[0050] The remaining component 240 may then be compressed, in particular losslessly compressed, and the substitution information 23 may be transmitted together with the compressed remaining component 240 to the receiving side 30 . After transmission 130, the remaining components 240 can first be decompressed 150 to obtain the decompressed data 212. Then, based on the transmitted replacement information 231, e.g. pixel values z i The pseudo-noise 230 can be reapplied to the remaining component 240 by the following calculation:
[0051]
number
[0052] Here, a noise model and its parameters are used, where the noise model is a functional form of the transformation and the parameters are exact values for σ and q.i can be calculated by the generator 20, which now receives the transmitted permutation information 231 for random number generation. The pixel value z i The data 210 having the σ 2 σ 1 σ 2 ...
[0053] The above description of the embodiments sets forth the invention in an exemplary context only: Naturally, in so far as it makes sense technically, the individual features of the embodiments can be freely combined with one another without departing from the scope of the invention. [Explanation of symbols]
[0054] 1 vehicle 2 Data connection, mobile communication network 10 Capture device, image sensor 20 Random Number Generator, Generator 30 Receiving side 40 Computer Programs 50 Data processing device 60 Further Equipment 100 ways 101 Decision 110 Preparation 120 Data Compression 130 Transmission 140 Capture 150 Thaw 160 Occurrence of substitution components 230 170 Processing, further processing 210 data, noise reduction data 211 Compressed Data 212 Unzipped Data 220 Data component, noise component, first data component 230 Substitution components, artificially generated noise, pseudo-noise 231 Replacement Information 240 remaining components, second data components 250 Watermark 260 Additional Information
Claims
1. A method (100) for providing data (210), - Step (101) of determining the data (210) in vehicle (1), - A step of performing the preparation (110) of the determined data (210), wherein the data component (220) of the data (210) is removed, and an artificially generated and reproducible replacement component (230) is defined by replacement information (231) as an approximation of the removed data component (220), thereby preparing the data (210) for data compression (120). - A step of performing data compression (120) of the prepared data (210), - A step of initiating the transmission (130) of the data (210) compressed by the data compression (120) via a mobile communication network (2), wherein the replacement information (231) is transmitted in place of the data component (220), A method (100) in which this is performed automatically.
2. The method according to claim 1 (100), characterized in that the data component (220) is a noise component (220) of the data (210), and the substitution component (230) is an artificially generated noise (230).
3. The method according to claim 2 (100), characterized in that the artificially generated noise (230) is pseudo-noise (230).
4. The method (100) according to claim 1, characterized in that the data (210) compressed by the data compression (120) and the replacement component (230) based on the replacement information (231) are restored to be bit-identical after the transmission (130), and for this purpose, the data compression (120) is performed in the form of lossless data compression (120).
5. The method according to claim 1 (100), characterized in that the substitution component (230) is defined by determining the substitution information (231).
6. The method according to claim 5 (100), characterized in that the substitution information (231) is a seed key for a random number generator (20).
7. The method according to claim 5 (100), characterized in that the substitution component (230) is reproduced by the substitution information (231) after the transmission (130) of the data (210).
8. The method according to 1 (100), characterized in that the acquisition device (10) performs acquisition (140) within the environment of the vehicle (1) or on the vehicle (1), the data (210) is determined based on the acquisition (140), and the vehicle function is performed by processing the data.
9. The method according to 8 (100), wherein the capture includes recording content related to the vehicle function, and after the removal of the data component, the data still includes remaining components specific to the related content, while the data component has mainly random content based on at least one parameter of the capture device, and the replacement information is defined based on the at least one parameter.
10. The method according to claim 9 (100), characterized in that the content related to the vehicle function is an object in the environment of the vehicle.
11. The method according to 9 (100), characterized in that the vehicle function is a driver assistance system for the vehicle.
12. The determination of the aforementioned data, - A step of performing the determination using an image sensor, the step of the image sensor providing the determined data in the form of image data, The execution of the above preparations - A step of removing the data component in the form of a noise component by noise reduction, wherein the prepared data is generated in the form of noise-reduced image data, After the aforementioned transmission, - A step of decompressing the transmitted data, wherein the data components remaining after the removal of the data components are restored to be bit-identical, - A step of generating the replacement component based on the replacement information, wherein the replacement component is restored to be bit identical, - A step of introducing the substitution component into the decompressed data, wherein the data is provided as an approximation of the determined data, It will be held, The method according to claim 1 (100).
13. After the transmission, - In particular, a step (170) of processing the data including the introduced replacement component in order to reproduce the recorded driving conditions of the vehicle, It will be held, The method according to 12 (100), characterized by the features described above.
14. Furthermore, before performing the above preparations, - Based on the noise characteristics of the image sensor and / or based on the noise evaluation of the determined image data, identify at least one parameter of the noise model and define the replacement component in the form of pseudo-noise as an approximation of the removed noise component, This is executed. The method according to 12 (100), characterized by the features described above.
15. The execution of the above preparations - A step of introducing at least one additional piece of information into the data, wherein the additional information is also transmitted during the transmission and is verified in order to detect errors during the transmission. The method according to claim 1 (100), characterized by including the following:
16. The method according to claim 15 (100), characterized in that the at least one additional piece of information is an additional bit.
17. The execution of the above preparations - A step of introducing at least one watermark into the data, wherein the watermark is also transmitted during the transmission. The method according to claim 1 (100), characterized by including the following:
18. A computer program (40) that includes an instruction to cause the computer to execute the method (100) described in claim 1 when the computer executes the computer program (40) by the computer.
19. A data processing device (50) designed to perform the method (100) described in claim 1.