Camera system to improve the performance of a perception system

Abstract

Camera system (100) for increasing the performance of a perception system for image correction of an image area (104), comprising one or more cameras (102), wherein one or more cameras (102) have a focal length and a field of view, wherein the one or more cameras (102) have a camera type or a camera variant, characterized in that the one or more cameras (102) can be positioned at different installation heights (112) or object distances (114) from the camera (102), wherein a virtual camera and / or virtual image is generated from a camera image by means of the camera system (100), wherein the focal length and / or the field of view of the virtual image changes dynamically once during an installation or repeatedly when the ambient conditions change, depending on an installation height (112) or the object distance (114).

Description

Technical area

[0001] The invention relates to a camera system for improving the performance of a perception system for image distortion correction of an image region. Furthermore, the invention relates to a method for improving the performance of a perception system for image distortion correction of an image region. Furthermore, the invention relates to the use of the camera system. State of the art

[0002] For applications such as automated parking (AVP) that require precise detection and measurement of objects within a specific distance range, it is critical to carefully select or customize the camera to meet these requirements. This can be achieved by selecting or designing a camera with the appropriate sensor resolution, lens, and optical field of view (FoV). For example, if the goal is to accurately detect objects very close to the camera, a wide-angle FoV may be advantageous because it covers a larger area. Conversely, if comparable accuracy is desired for objects further away, a camera with a narrower field of view can be selected to achieve similar results to the wide-angle camera for close objects.

[0003] EP 1038734 B1 relates to a driver assistance device having an environment imaging device for imaging the environment of the vehicle equipped with the driver assistance device, which device has a camera for generating an environment image and a device for generating a synthetic image by superimposing an assumed movement pattern.

[0004] The disadvantage of this approach, however, is that it creates a camera system specifically designed for a specific scenario or purpose, compromising its effectiveness in other situations, such as installations at different heights. Furthermore, it may result in combining multiple camera system versions for different applications into a single system, inefficiently increasing the complexity and number of camera variants.

[0005] DE 10 2008 034606 A1 relates to a method for displaying the surroundings of a vehicle on a mobile unit that wirelessly receives at least one image signal from the vehicle. The at least one image signal generates a display on the mobile unit that contains at least one perspectively arranged virtual plane on which at least one image captured with a recording device of the vehicle, which image comprises at least part of the surroundings of the vehicle, is depicted.

[0006] DE 10 2020 213147 A1 relates to a method for a camera system, in particular a surround-view camera system, for an ego vehicle, comprising a control device for controlling the camera system and a plurality of cameras for capturing the surroundings, wherein the following method steps are provided: detecting objects that are located in the field of view of the cameras, selecting at least one object from the detected objects based on at least one selection parameter, determining a distance between the selected object and the ego vehicle, setting up a virtual camera that is directed at the selected object, and outputting information about the selected object. Disclosure of the invention

[0007] According to a first aspect of the invention, a camera system for increasing the performance of a perception system for image rectification of an image area is proposed, which camera system comprises one or more cameras, wherein one or more cameras have a focal length with a field of view, wherein the one or more cameras have a uniform camera type or a uniform camera variant, wherein the one or more cameras can be positioned at different installation heights or object distances from the camera, wherein a virtual camera and / or virtual image is generated from a camera image by means of the camera system, wherein the focal length and the field of view of the virtual image change dynamically once during an installation or repeatedly when the ambient conditions change as a function of an installation height or the object distance.

[0008] A camera system comprises a variety of components, including an image capture unit (e.g., a camera, including optical elements such as a lens) and, if applicable, signal processing and transmission components. The purpose of the camera system is to capture, process, and / or transmit visual information, making it suitable for a wide range of applications, such as photography, video recording, and security surveillance.

[0009] A perception system is a technical system capable of collecting, interpreting, and understanding information about its environment. Its purpose is to capture, process, and analyze data from the physical world so that the technical system can perceive and understand its environment. This technological system includes, for example, a variety of sensors, cameras, microphones, radar systems, lidar, and other technologies. The sensors collect data such as images, sounds, depth information, and other physical parameters. Algorithms and processing units then analyze the collected data to recognize patterns, detect objects, calculate distances, and ultimately develop a comprehensive understanding of the environment.The perception system plays a crucial role in applications such as autonomous driving, where vehicles must have a comprehensive understanding of their surroundings in order to navigate safely and efficiently. With the perception system according to the invention, which is arranged as a perception system within an infrastructural environment, such as a parking garage, the environment can be completely detected. The detected environment is transmitted to the autonomous vehicle, for example via a server, so that the vehicle can, for example, drive or park according to the environment detected by the perception system. In the context of the perception system of a camera, the term "image area" refers to the specific part of the environment that is detected and processed by the camera.This includes the visible area that can be captured by the camera's sensors. The image area is crucial for the camera system to effectively cover the intended surveillance area. The image area correlates closely with the camera's field of view, which determines the area within the camera's viewing angle in which objects and events can be captured. The image area plays a crucial role in the evaluation of image data, for example, particularly in tasks such as object detection, tracking, and analyzing movement patterns. The camera system according to the invention extends the capabilities of a perception system with a particular focus on optimizing the image area and its image distortion correction.

[0010] A camera type refers to the general grouping or classification of a camera determined by its basic characteristics, purpose, or functions. Within each camera type, there are different models or versions, known as camera variants. These variants may have differences in certain features, technologies, or design aspects.

[0011] For the purposes of the invention, a camera's focal length is understood to be the distance between a focal point, the point at which the light rays meet after passing through the camera lens, and a focal point center, the center of the lens. Within the context of this invention, a dynamic focal length is a function that allows the focal length of a camera lens to be adjusted to vary the image section, i.e., the image area, without the camera itself having to be physically moved. The term "field of view" refers to the angle, measured in degrees, captured by an optical system, such as a camera, a sensor, or a surveillance system. In the context of this invention, a dynamic field of view refers to the ability of a camera and / or cameras of a camera system located in infrastructure buildings to adapt its field of view or detection range to changing conditions and requirements.In this context, the proposed camera system with a dynamic field of view can vary its parameters in real time according to different situations. This includes the ability to change the angle, perspective, or focus to accommodate changing circumstances or moving objects. A variable area, in this case, refers to a size or space that is not fixed but can be changed or adapted.

[0012] The term "installation height" refers to the height at which the camera(s) are positioned or mounted relative to the floor or a floor surface. For example, determining an optimal installation height depends on a variety of factors and varies with the individual specifications of the surveillance system. The proposed camera system offers the advantage of being able to meet any specification of the sensing environment by using the same camera types.

[0013] In the context of a camera system within the meaning of the present invention, and particularly in applications such as automated parking, the term "object detection" refers to the detection of surrounding objects (e.g., the vehicle, other vehicles, pedestrians) or obstacles. For automated parking, accurate object detection is crucial to ensure safe driving, as well as parking in and out. For this purpose, cameras are often used that provide a real-time visual representation of the vehicle's surroundings and accurately detect objects. The accuracy and efficiency of the automated parking system depend heavily on the camera system's ability to accurately and reliably detect objects. This allows the vehicle to drive precisely, maneuver, and interact safely with its surroundings.

[0014] A virtual camera is a mathematical model that replicates the properties of a real camera. These properties include aspects such as spatial configuration, perspective, focal length, and various other variables. For example, to examine the movement and position of objects, the proposed camera system uses a virtual camera that accurately replicates the viewpoint of a physical camera.

[0015] A virtual image is therefore the result of a simulation performed by a virtual camera. It represents visual information based on a simulated camera perspective and simulated parameters. In a perception system, a virtual image can, for example, contain information about an environment or the location of objects captured by a real or simulated camera.

[0016] By using cameras of the same type or a variant thereof, the proposed invention introduces a novel method for achieving an optimal level of visual perception. This method creates a virtual camera or a virtual image generated from the original camera image, whether the raw image or the corrected image. In particular, the focal length of the virtual image is dynamically adjusted in response to changes in the installation height or the distance between objects and the camera.

[0017] According to the invention, camera systems with cameras play a crucial role in supporting the parking process, for example in a parking garage with an automated parking system. The cameras are stationary and mounted on infrastructure facilities such as a parking garage and strategically positioned along the lanes and parking spaces. The cameras can be positioned, for example, such that they are suspended from the ceiling of the parking garage with their field of view directed downwards towards the ground. If, for example, a vehicle enters the parking garage, the camera system takes over the precise positioning and alignment of the vehicle. By making one-time or multiple dynamic changes to the focal length and / or field of view during installation, the cameras record the distances to obstacles and lane markings, thus enabling safe driving.In addition, the cameras monitor potential obstacles such as pillars, other vehicles, or people as the vehicle navigates through the parking garage. By dynamically changing the field of view, obstacles are detected from different distances and angles, allowing the automatic parking system to provide detailed visual evasive or detour instructions.

[0018] In an advantageous embodiment of the camera system proposed according to the invention, the camera(s) is / are super wide-angle camera(s).

[0019] A super-angle camera, as defined by the invention, is a camera with a field of view of, for example, 120°. The proposed camera can also be a wide-angle camera or another type of camera.

[0020] A wide-angle camera is a camera with a wide-angle lens that can capture a larger area than a standard camera with a normal or telephoto lens. A super wide-angle camera is a camera with a super wide-angle lens that can capture a larger area than a wide-angle camera, a standard camera with a normal or telephoto lens. This is particularly important for detecting obstacles, for example. In automatic parking, accurate detection of the surroundings is important for a vehicle to drive safely within the parking area and maneuver into a parking space. Super wide-angle or wide-angle cameras enable an automatic parking system to make precise decisions and maneuver the vehicle safely. In addition, super wide-angle or wide-angle cameras help ensure that a larger perception area is captured by one camera, meaning the perception system needs fewer cameras to cover the parking area.Free parking spaces are detected more quickly because they cover a larger area and therefore more information is available for decision-making.

[0021] In a further advantageous embodiment of the camera system proposed according to the invention, the generated camera image comprises a raw image or a distortion-free image.

[0022] A distortion-free image is generally a captured image that faithfully reproduces objects and surroundings, free from significant distortions such as barrel or pincushion distortion or other undesirable optical effects. A "raw image" refers to an unprocessed image taken directly from the camera. Unlike some compressed image formats, a raw image contains all the data captured by the image sensor, eliminating any in-camera processing or compression. Raw images are stored uncompressed, preserving all the information recorded by the image sensor and preserving no data loss.

[0023] Raw images also offer more flexible post-processing options, as exposure, white balance, and contrast, for example, can be adjusted more easily. Raw images enable lossless processing because no data is lost during storage.

[0024] In a further advantageous embodiment of the camera system proposed according to the invention, one or more cameras have a dynamic area of ​​interest and the focal length.

[0025] In a further advantageous embodiment of the camera system proposed according to the invention, the camera system comprises an arrangement of a plurality of cameras in a configured position and orientation relative to one another, wherein the position and orientation of the cameras are designed such that optimal coverage of the area to be monitored is achieved.

[0026] The camera system for enhancing the performance of a perception system for image distortion correction of an image area, comprising a plurality of horizontally arranged cameras, advantageously provides a highly efficient monitoring option for the environment. For example, a horizontal arrangement can be a horizontal line arrangement, which enables effective monitoring along a specific axis of an infrastructure building, such as a parking garage. Alternatively, the camera system can have a zonal arrangement, in which the environment to be monitored is divided into zones and cameras are specifically positioned in each zone.

[0027] According to a second aspect of the invention, a method for increasing the performance of a perception system for image distortion correction of an image area is proposed, preferably using the camera system described above, the method comprising at least the following steps: - capturing an image by performing a camera projection from a spatial environment, wherein a captured image has an original camera resolution, wherein the captured image has the optical distortion and - Distortion correction for a section of the image to create a distortion-free image with a dynamic field of view.

[0028] For example, during distortion correction, the captured image can be adjusted so that the optical distortion is eliminated but the visible image area is reduced. The resulting image, i.e., the generated distortion-free image, is manipulated so that its properties correspond to those of a virtual camera with a similarly reduced field of view. The result of the distortion correction can be a distortion-free image that potentially shows a reduced area of ​​the originally captured image, with this area being made compatible with the properties of a corresponding virtual camera.

[0029] This process creates an optical magnification (zoom-in effect) in the rectified image. For example, to maintain a certain image quality, various anti-aliasing methods, pixel or subpixel interpolation techniques can be used to create the image with a smaller field of view.

[0030] A pixel interpolation technique is a process in which new pixel values ​​are calculated to improve the image display. This can be achieved by averaging the values ​​of neighboring pixels or by using complex mathematical algorithms, resulting in, for example, smoother transitions and higher image quality. A subpixel interpolation technique is an interpolation technique that applies interpolation of individual pixel components on a plane, thereby improving visual image resolution.

[0031] An antialiasing technique is a technique that reduces or eliminates one or more artifacts, such as aliasing, in digital images. Antialiasing techniques include various methods such as supersampling, multisampling, or post-processing filters to enhance the appearance of edges and lines, which are state-of-the-art and will not be discussed further.

[0032] In a simple modification of the method presented in this invention, a region of interest (ROI) or window region of interest (WOI) can be selected in the original image such that only a section of the original image or only a portion of the image from the image sensor is used, or only a portion of the image is read out, which is controlled by an ROI / WOI configuration. In such a system, for example, using a smaller image or resizing the resulting image to the target image resolution by resampling or one of the above-mentioned methods results in the resulting image having a smaller field of view and ultimately achieving improvements in the perception system.

[0033] In a further advantageous embodiment of the method proposed according to the invention, the optical distortion occurs due to a reduction of the first field of view of the rectified image of a first area or a used image area of ​​the virtual camera.

[0034] In a further advantageous embodiment of the method proposed according to the invention, by reducing the size of the first region of the rectified image, a size of the first region is achieved that is similar to the size of the third region. A "size" refers to the spatial detection area, which is covered, for example, by a field of view.

[0035] In a further advantageous embodiment of the method proposed according to the invention, the method generates a virtual camera or a virtual distortion-free image from a raw image in one step.

[0036] In a further advantageous embodiment of the method proposed according to the invention, a digital or synthetically dynamic zoom-in effect is generated in the resulting image.

[0037] According to the invention, the zoom-in effect is an interpretation of a distortion correction of the raw image with a virtual camera or a virtual image with a reduced field of view.

[0038] The invention further relates to the use of the camera system for improving the performance of a perception system for image distortion correction of an image area within an automatic parking system. Advantages of the invention

[0039] In the area of ​​infrastructure, for example, in automatic parking, monitoring or recording the vehicle's surroundings plays a crucial role in safety, efficiency, and operational management. An innovative solution for these requirements is camera systems whose focal lengths or fields of view can be dynamically changed. A key advantage of such a system is its flexibility. By dynamically changing the focal length and field of view, the cameras can be flexibly adapted to different infrastructure areas. This enables precise monitoring of both open spaces and areas with limited visibility or access.

[0040] This flexibility also enables efficient use of resources. For example, a camera system with a dynamically variable focal length or field of view can provide equivalent coverage instead of multiple cameras with a fixed focal length or field of view, while reducing resources such as installation costs and energy consumption. This is especially true in dynamic environments such as construction sites or event venues, where surveillance requirements frequently change. To meet new requirements, the focal length or field of view can be adjusted without additional installation effort.

[0041] More efficient use of recorded data is also possible through dynamically changing the focal length or field of view. By capturing important details while maximizing the monitored area, a camera system with dynamically changing focal length or field of view can quickly detect disruptive activity and effectively record events. This not only increases security but also simplifies the management and analysis of surveillance data.

[0042] Furthermore, the use of the camera system described in the present invention makes it possible to use a single camera type that can operate effectively at different installation heights. This eliminates the need to adapt multiple camera types for different object distances or installation heights, significantly reducing the number of camera types required.

[0043] By minimizing the number of camera types, costs for design, logic and processing units, software development, manufacturing, validation and testing, logistics, and overall effort are reduced. Furthermore, for applications such as AVP, the camera system can be carefully and strategically designed, taking into account camera attributes, field of view, mounting height, and coverage area, resulting in a simpler and less labor-intensive system planning process compared to existing technologies. Furthermore, the camera system developed according to the present invention simplifies installation and commissioning. Short description of the drawings

[0044] Embodiments of the invention are explained in more detail with reference to the drawings and the following description.

[0045] They show: Fig. 1 a graphic representation of the camera system, Fig. 2 a representation of the procedure and a graphic representation of a dynamic image correction, Fig. 3 a representation of images of an automatic parking system with the dynamic field of view, Fig. 4 a representation of images of an automatic parking system with the dynamic area of ​​interest and Fig. 5 a graphic representation of a horizontal arrangement of cameras of the camera system. Embodiments of the invention

[0046] In the following description of the embodiments of the invention, identical or similar elements are designated by the same reference numerals, whereby a repeated description of these elements is omitted in individual cases. The figures only schematically illustrate the subject matter of the invention.

[0047] Fig. 1 shows a graphical representation of the camera system 100. Fig. Figure 1 further shows a representation of a camera 102 for capturing a vehicle's surroundings during an automatic parking process at different installation heights 112 with the dynamic field of view in the image rectification. A first camera 102.1 is shown at a first installation height 112.2 and a first field of view 110, which covers a first area 110.1. Furthermore, Fig. 1 shows a second camera 102.2 at a second installation height 112.4 and a second field of view 106 covering a second area 106.1, wherein the first camera 102.1 and the second camera 102.2 shown are identical cameras that are installed at different installation heights 112. Furthermore, Fig. 1 shows a third field of view 108 or a reduced field of view 108 that covers a third area 108.1. The third field of view 108 is a dynamically used and / or reduced field of view of the rectified image generated by the cameras 102. Reference numeral 116 represents the general representation of the field of view, which includes the visual information that can be captured from the situation or object being viewed.

[0048] As in Fig. 1, by reducing the second field of view 106 of the rectified image 118 or by the virtual camera, the second area 106.1 is reduced in size such that a third area 108.1 is covered in the object space, which is similar to the first area 110.1 covered in the second installation height 112.4.

[0049] Fig. 2 shows an illustration of the method 200 and a graphical representation of a dynamic image correction. This method comprises two essential steps. In the first step of the method 200, the capture 206 of an image is performed by executing 204 a camera projection from a spatial environment 202, wherein a captured image 214 has an original camera resolution, wherein the captured image 214 has the optical distortion 212. In the final third step, the distortion correction 208 is performed for an image section to generate a distortion-free image 210, 302.1, 304.1, 306.1, 402.1, 404.1 with a dynamic field of view.

[0050] In Fig. 2 additionally shows a graphical representation of a dynamic image correction. The graphical representation of the dynamic image correction shows a spatial environment 202 in which the camera projection is executed 204. The spatial environment 202 further comprises an outer spatial environment section 216 and an inner spatial environment section 218. After the camera projection is executed 204, an image is captured 206. The captured image 214 comprises the corrected image 118. The corrected image 118 in turn comprises an outer image section 216.1 and an inner image section 218.1, both of which have an optical distortion 212. Furthermore, after the capture 206, a distortion correction 208 of the captured image 214 is performed, resulting in a distortion-free image 210. The distortion-free image 210 completely comprises all image information from the area of ​​the inner spatial environmental section 218.

[0051] For example, if image processing is performed on a reduced FOV (as in the AVP application), the desired configuration of the distortion-free image 210, 302.1, 304.1, 306.1, 402.1, 404.1 (reduced field of view 108, ROI / WOI upscaling, or magnification scale) should preferably already be considered in the distortion correction step 208. This improves the final image quality compared to the prior art, since the subpixel interpolation process is performed only once in the original image during the distortion correction 208 for a reduced field of view 108. In the AVP application, for example, the desired reduced image section, which has a distortion-free image 210, is first calculated based on the distance between the camera 102 and the object or the installation height 112 of the camera 102.In this case, the rectified image 118 intentionally has a smaller image section, and some information about the outer parts of the original image from the outer spatial environment section 216 is lost. However, the image quality in the distortion-free image 210, 302.1, 304.1, 306.1, 402.1, 404.1 (corresponding to the inner environmental section 218 of the original image of the spatial environment 202) is relatively higher compared to the prior art, resulting in higher accuracy of the image processing algorithm in the inner image section 218.1 and thus more accurate detection of more distant objects. With this technique, the same camera 102 can be used for different installation heights 112 while maintaining the required detection accuracy and precision.

[0052] Method 200 creates an optical magnification (zoom-in effect) in the rectified image 118. For example, to maintain a certain image quality, various anti-aliasing methods, pixel or subpixel interpolation methods can be used to generate the image with a reduced field of view 108.

[0053] Fig. 3 shows images of an automatic parking system with a dynamic horizontal field of view. The images are recordings from a camera for automatic parking (mono or stereo) at different installation heights 112 with the dynamic field of view in image rectification. In the first row, from left to right, original camera images are shown using the same camera, with a first camera image 302 recorded at an installation height 112 of 4 meters, a second camera image 304 recorded at an installation height 112 of 5 meters, and a third camera image 306 recorded at an installation height 112 of 6 meters. In the second row, from left to right, distortion-free images 302.1, 304.1, and 306.1 of the above images are shown using a dynamic field of view according to the invention for image rectification.

[0054] As in Fig. As shown, by increasing the installation height 112 of the camera while simultaneously reducing the first field of view 110 in the corrected image, a similar image can be created, wherein the similar region, namely the first region 110.1, is reduced to the second region. The dimensions of the third region 108 are the same, and with these methods 200, the theoretical optical and / or spatial resolution remains the same while the performance of the perception system 512 is increased. For example, the quality of the resulting image, namely the resulting image 210, can be further optimized by pixel or subpixel interpolation methods, various anti-aliasing methods, contrast enhancement, or similar methods in the distortion correction step 208.

[0055] Fig. 4 shows a representation of images of an automatic parking system with the dynamic region of interest and the field of view 116. The images are images from a camera for automatic parking (mono or stereo) at different installation heights 112 with the dynamic region of interest and the field of view 116 in the image rectification, wherein an object size, at least one image feature, and a resolution are an object-space measurement and are similar at different installation heights 112. In the first row, from left to right, original camera images using the same camera are shown, with a fourth camera image 402 taken at an installation height of 2.5 m 112 and a fifth camera image 404 taken at an installation height of 4 m 112. In the second row, from left to right, distortion-free images 402.1, 404.1 of the above images are shown using a dynamic region of interest and a field of view 116 according to the invention for image rectification.

[0056] Fig. Figure 5 shows a graphic representation of a horizontal arrangement 502 of three cameras 102 of the camera system 100, which is provided for image distortion correction of an image area in the perception system 512. The graphic representation of the Fig. Figure 5 shows a spatial environment 202, for example, a parking garage, and an autonomous vehicle 504 that includes a vehicle communication unit 510. Furthermore, the perception system 512 is shown to include a server 506 and an infrastructure-based wireless communication unit 508. The spatial environment 202 captured by the camera system 100 is transmitted to the vehicle communication unit 510 of the autonomous vehicle 504 via the infrastructure-based wireless communication unit 508.

[0057] The invention is not limited to the embodiments described here and the aspects highlighted therein. Rather, numerous modifications are possible within the scope of the claims, which are within the scope of one skilled in the art. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 1038734 B1

[0003] DE 10 2008 034606 A1

[0005] DE 10 2020 213147 A1

[0006]

Claims

[1] Camera system (100) for increasing the performance of a perception system (512) for image distortion correction of an image area (104), comprising one or more cameras (102), wherein one or more cameras (102) have a focal length with a field of view (116), wherein the one or more cameras (102) have a uniform camera type or a uniform camera variant, characterized by that the one or more cameras (102) can be positioned at different installation heights (112) or object distances (114) from the camera (102), wherein a virtual camera and / or virtual image is generated from a camera image (302, 304, 306, 402, 404) by means of the camera system (100), wherein the focal length and the field of view (116) of the virtual image change dynamically once during an installation or repeatedly when the ambient conditions change as a function of an installation height (112) or the object distance (114). [2] Camera system (100) according to claim 1, wherein the camera(s) (102) is / are super wide angle camera(s). [3] Camera system (100) according to one of the preceding claims, wherein the generated camera image comprises a raw image or a distortion-free image (210, 302.1, 304.1, 306.1, 402.1, 404.1). [4] Camera system (100) according to one of the preceding claims, wherein one or more cameras (102) have a dynamic area of ​​interest and the focal length. [5] Camera system (100) according to one of the preceding claims, wherein the camera system (100) comprises an arrangement of a plurality of cameras (102) in a configured position and orientation relative to one another, wherein the position and orientation of the cameras (102) is designed such that optimal coverage of the area to be monitored is achieved. [6] Method (200) for increasing the performance of a perception system (512) for image distortion correction of an image area (104), with the camera system (100) according to one of the preceding claims, wherein the method (200) comprises at least the following steps: - capturing (206) an image by performing (204) a camera projection from a spatial environment (202), wherein a captured image (214) has an original camera resolution, wherein the captured image (214) has an optical distortion (218) and - Distortion correction (208) for generating a distortion-free image (210, 302.1, 304.1, 306.1, 402.1, 404.1) with a dynamic field of view. [7] Method (500) according to one of the preceding claims, wherein by reducing the size of the first region (110.1) of the rectified image (118) a size of the first region (110.1) is achieved which is similar to a size of the third region (108.1). [8] Method (500) according to one of the preceding claims, wherein the method (500) generates a virtual camera or a virtual distortion-free image from a raw image in one step. [9] Method (500) according to one of the preceding claims, wherein a digital or synthetic dynamic zoom-in effect is generated in the resulting image. [10] Use of the camera system (100) to increase the performance of a perception system (512) for image distortion correction of an image area (104) within an automatic parking system.

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