Camera system for a vehicle and method for fail-safe operation of a camera system

Abstract

Camera system for a vehicle (1) with several vehicle cameras (2) for generating camera images, the areas of the vehicle's surroundings (1) are reproduced, wherein the viewing areas of the vehicle cameras (2) overlap at least partially, and in the event of a failure of a camera image transmitted by a vehicle camera (2) by a computing unit (4) the failed camera image is reconstructed at least partially on the basis of other at least partially overlapping camera images of the other vehicle cameras (2), characterized by the fact that the failed camera image is reconstructed depending on camera parameters (KP) of the other vehicle cameras (2), wherein the camera parameters (KP) of the vehicle cameras (2) are stored and have intrinsic camera parameters and extrinsic camera parameters.

Description

[0001] The invention relates to a fail-safe camera system and a corresponding method for the fail-safe operation of such a camera system for a vehicle, in particular a road vehicle.

[0002] EP 2 077 667 A1 discloses a device and a method for displaying video data. The video data can be generated by several cameras, each capturing a portion of the environment. If one of the cameras fails, an image from the failed camera can be reconstructed by combining images provided by the functioning cameras.

[0003] Vehicles are increasingly being equipped with cameras that provide the driver with images. These images can be displayed either directly or after processing on a screen inside the vehicle. For example, conventional road vehicles are fitted with cameras that cover the front and rear of the vehicle to assist the driver with maneuvers such as reversing. The images and data from the front camera help the driver control the vehicle in traffic. Furthermore, vehicles are increasingly being fitted with surround-view cameras, whose images are processed by the vehicle's data processing unit to create a visual representation of the surrounding environment.Such camera surround view systems are increasingly used in vehicles and allow the driver to view the surroundings of his vehicle from a desired angle from a virtual position.

[0004] The vehicle's various cameras provide real-time images, which, after appropriate image data processing, are displayed to the driver on a screen. With conventional camera systems, if a camera image fails, the driver is usually notified, and the affected camera system is deactivated or switched off due to the fault.

[0005] It is therefore an object of the present invention to create a camera system which allows the camera system to continue operating even if a camera image supplied by a vehicle camera fails.

[0006] This problem is solved according to the invention by a camera system with the features specified in claim 1.

[0007] According to the invention, the camera parameters of the vehicle cameras present in the vehicle are stored, in particular in a data storage device to which the computing unit has access.

[0008] In one possible embodiment of the camera system according to the invention, if a camera image from at least one vehicle camera fails, the calculation unit uses the stored camera parameters to reconstruct the failed camera image based on the remaining partially overlapping camera images from the other vehicle cameras.

[0009] In one possible embodiment of the camera system according to the invention, the extrinsic camera parameters of the vehicle camera include position coordinates of the vehicle camera in a coordinate system of the vehicle as well as alignment angles of the vehicle camera.

[0010] In another possible embodiment of the camera system according to the invention, the intrinsic camera parameters of the vehicle camera include optical parameters of a camera optic of the vehicle camera and / or electrical parameters of an image data processing unit of the vehicle camera.

[0011] In another possible embodiment of the camera system according to the invention, the vehicle cameras transmit relevant camera parameters together with the camera images to the computing unit during operation, so that if a camera image of at least one vehicle camera fails, the computing unit uses the received camera parameters to reconstruct the failed camera image on the basis of the remaining at least partially overlapping camera images of the other vehicle cameras and their camera parameters.

[0012] In another possible embodiment of the camera system according to the invention, the camera image supplied by a vehicle camera of the vehicle is displayed directly on a display of the vehicle.

[0013] In another possible embodiment of the camera system according to the invention, the camera image supplied by a vehicle camera is only displayed on a display of the vehicle after data processing or image preparation.

[0014] In one possible embodiment of the vehicle camera system according to the invention, the camera image supplied by one vehicle camera is processed by an image data processing unit together with camera images supplied by other vehicle cameras to form a display image that is shown on a display of the vehicle.

[0015] In one possible embodiment of the camera system according to the invention, if one of the vehicle's displays fails, the system automatically switches to another display or to a specially provided replacement display.

[0016] In another possible embodiment of the camera system according to the invention, the failure of a camera image transmitted from a vehicle camera is detected by the processing unit.

[0017] As soon as the processing unit detects the failure of a camera image transmitted by a vehicle camera, the processing unit reconstructs the failed camera image at least partially based on the other, at least partially overlapping, camera images from the other vehicle cameras, depending on camera parameters of the other vehicle cameras.

[0018] In one possible embodiment of the camera system according to the invention, the failure of a camera image transmitted by a vehicle camera is detected by means of an image data analysis of the camera image content performed by the calculation unit.

[0019] In one possible embodiment of the camera system according to the invention, the vehicle cameras transmit the camera images to the computing unit in data packets.

[0020] In one possible embodiment of the camera system according to the invention, a failure of a camera image transmitted by a vehicle camera is detected by evaluating header data of the transmitted data packets.

[0021] In another possible embodiment of the camera system according to the invention, it has four surrounding vehicle cameras provided in the vehicle, which capture an overlapping front, rear, right side and left side surrounding area of ​​the vehicle.

[0022] In another possible embodiment of the camera system according to the invention, it has a right and a left mirror vehicle camera that capture a left and right side mirror area of ​​the vehicle.

[0023] In another possible embodiment of the camera system according to the invention, a front vehicle camera and a rear vehicle camera are provided, which capture a front area and a rear area of ​​the vehicle.

[0024] In another possible embodiment of the camera system according to the invention, a left mirror display and a right mirror display are provided, each of which shows the driver a mirror image of the vehicle's surroundings calculated by the calculation unit in a left and right side mirror area of ​​the vehicle.

[0025] In one possible embodiment of the camera system according to the invention, if a camera image transmitted by the rear vehicle camera fails, the failed camera image is at least partially reconstructed by the calculation unit on the basis of the partially overlapping camera images of the two mirror vehicle cameras and their camera parameters.

[0026] In another possible embodiment of the camera system according to the invention, a composite image of the surroundings is calculated from the camera images supplied by the surrounding vehicle cameras, which, if one of the camera images of a surrounding vehicle camera fails, is at least partially reconstructed by the calculation unit on the basis of the partially overlapping camera images of the other surrounding vehicle cameras and their camera parameters.

[0027] The invention further provides a method for the fail-safe operation of a camera system with the features of independent claim 14.

[0028] Possible embodiments of the camera system according to the invention and the method according to the invention for the fail-safe operation of a camera system are explained in more detail below with reference to the attached figures.

[0029] They show: Fig. 1 a block diagram to illustrate an embodiment of a camera system according to the invention; Fig. 2 a view of a possible embodiment of the camera system according to the invention for a vehicle with several vehicle cameras of different camera types; Fig. 3 a diagram to explain the functioning of a camera system according to the invention and the method according to the invention for the fail-safe operation of such a camera system.

[0030] How to in Fig. As can be recognized, one or more vehicle cameras can be present in a vehicle 1. In the illustrated embodiment, n vehicle cameras 2-1, 2-2 ... 2-n are provided in the vehicle 1. The vehicle cameras 2-i can be mounted at different positions with different orientation angles on the vehicle body. The vehicle cameras 2-i are intended to generate camera images that reproduce areas of the vehicle 1's surroundings. Due to their position and orientation, the viewing areas SB of the vehicle cameras 2-i overlap at least partially. The vehicle cameras 2-i transmit camera images via transmission lines 3-i to a processing unit 4 of the vehicle 1. In one possible embodiment, the vehicle cameras 2-i transmit camera images to the processing unit 4 via a data bus. The processing unit 4 can contain one or more microprocessors for data processing. In the embodiment shown in Fig. In the embodiment shown in Figure 1, the processing unit 4 has access to a data storage device 5 in which camera parameters KP of the vehicle cameras 2-i are stored. Furthermore, the processing unit 4 is connected to the following: Fig. In the illustrated embodiment 1, one or more displays 6-i are connected.

[0031] If a camera image transmitted by a vehicle camera 2-i fails, the processing unit 4 at least partially reconstructs the failed camera image. The calculation of the failed camera image is based on the remaining, at least partially overlapping, camera images from the other vehicle cameras, depending on the camera parameters KP of the other vehicle cameras. In the case of the Fig. In the embodiment shown in Figure 1, the computing unit 4 has access to the data storage 5, in which the camera parameters KP of the vehicle cameras 2-i of the vehicle 1 are stored.

[0032] The camera parameters KP of a vehicle camera 2-i are, on the one hand, intrinsic camera parameters of the vehicle camera and, on the other hand, extrinsic camera parameters of the vehicle camera.

[0033] The extrinsic camera parameters KP of a vehicle camera comprise the position coordinates x, y, z of the respective vehicle camera 2-i in a coordinate system of the vehicle 1, as well as various orientation angles of the vehicle camera. These orientation angles include, in particular, a roll angle α, a tilt angle β, and a yaw angle γ. This determines the orientation of the vehicle camera 2-i in three-dimensional space. The extrinsic camera parameters define the field of view of the respective vehicle camera 2-i. Due to the corresponding positioning and orientation (α, β, γ) of the vehicle camera 2-i, the camera system according to the invention ensures that the fields of view SB of the different vehicle cameras 2-i overlap at least partially.

[0034] In addition to the extrinsic camera parameters, the data storage can contain 5 intrinsic camera parameters of the vehicle cameras 2-i. The intrinsic camera parameters include, for example, optical parameters of the camera optics of the vehicle camera, in particular the camera lenses, as well as electronic parameters of an image data processing unit of the respective vehicle camera 2-i.

[0035] In one possible embodiment, if a camera image originating from a vehicle camera 2-i fails, the camera parameters KP of the other non-failing vehicle cameras are read from the data storage 5 and, with their help, the failed camera image is at least partially reconstructed on the basis of the other at least partially overlapping camera images of the other vehicle cameras.

[0036] In another possible embodiment of the camera system according to the invention, the vehicle cameras 2-i transmit their respective camera parameters KP along with the camera images via the corresponding transmission lines 3-i during operation. If, in this embodiment, a camera image from one vehicle camera 2-i fails, the processing unit 4 has the option of evaluating the camera parameters KP supplied by the other vehicle cameras during the transmission of the camera images in order to reconstruct the camera image of the failed vehicle camera based on the received and at least partially overlapping camera images from the other vehicle cameras.

[0037] In another possible embodiment, the camera parameters KP of a vehicle camera 2-i can be stored in an integrated memory of the vehicle camera 2-i for readout. In this embodiment, for example, if a vehicle camera 2-i fails or its camera image fails, the processing unit 4 can request the camera parameters of the remaining functioning vehicle cameras 2-i via the transmission lines 3-i, so that they transmit their camera parameters KP to the processing unit 4.

[0038] In one possible embodiment of the merasystem supplied by the vehicle camera 2-i according to the invention, a camera image supplied by a vehicle camera 2=i is displayed directly as a display image on a corresponding display 6-i of the vehicle 1. In another possible embodiment, the camera images supplied by the vehicle cameras are first processed by an image data processing unit into a display image, which is then displayed on a display 6-i of the vehicle 1.

[0039] In the event of a failure of a display on vehicle 1, for example display 6-1 in Fig. In one possible embodiment, the display can be switched to another display, for example, display 6-2. Furthermore, if a display on vehicle 1 fails, the system can automatically switch to a dedicated backup display. In one possible embodiment, the processing unit 4 controls the switch from the failed display to the other or backup display.

[0040] In one possible embodiment of the camera system according to the invention, the failure of a camera image received from a vehicle camera 2-i is detected by a detection device of the computing unit 4. As soon as the detection unit detects the failure of a camera image, the lost camera image is at least partially reconstructed by the computing unit 4 based on the remaining, at least partially overlapping, camera images from the other vehicle cameras, depending on the camera parameters KP of the other vehicle cameras 2-i.

[0041] In one possible embodiment of the camera system according to the invention, the failure of a camera image transmitted by a vehicle camera 2-i is detected by a detection device of the computing unit 4 by means of image data analysis of the camera image content. The failure of the camera image can have various causes. One possible cause for the failure of a camera image is, for example, contamination of the camera optics by environmental dirt. If, for example, the vehicle 1 drives through a puddle, the camera lens can be at least partially covered by the dirt or mud kicked up. When contamination or contamination occurs, the spectrum of the recorded camera image changes because higher frequency components are reduced or disappear. Through a corresponding frequency analysis of the camera image content, the detection device of the computing unit 4 can recognize that the camera image has failed, at least temporarily.

[0042] Another cause for the failure of a vehicle camera could be, for example, a failure of the vehicle camera itself or of the transmission line 3-i. Such a failure can be detected, for instance, by the fact that the existing camera image does not change over time or freezes. In one possible embodiment, the vehicle cameras 2-i transmit a video sequence or a sequence of camera images of the surroundings in real time. If the image content of the camera image does not change despite the movement of vehicle 1, it can be determined that the corresponding camera image from vehicle camera 2-i has failed.

[0043] Furthermore, it is possible that vehicle cameras 2-i, upon detecting an internal malfunction, transmit a corresponding message to the calculation unit 4 in order to indicate or report their failure or the failure of their camera image.

[0044] In another possible embodiment of the camera system according to the invention, the vehicle cameras 2-i transmit the camera images in data packets to the processing unit 4 via the transmission lines 3-i. In one possible embodiment, the processing unit 4 can detect a failure of a camera image transmitted by a vehicle camera 2-i by evaluating management or header data of the data packets. For example, the header data can contain corresponding counters or count values ​​that indicate a sequence of camera images. If this count value does not change, the processing unit 4 can recognize that the camera image has failed.

[0045] In one possible embodiment, the processing unit 4 continuously and / or periodically monitors the functionality of the various vehicle cameras 2-i. For example, the processing unit 4 can periodically send a query to a vehicle camera 2-i and evaluate a corresponding response message from the vehicle camera 2-i to check whether the corresponding vehicle camera is still functional. Similarly, the processing unit 4 can also monitor the functionality of display devices 6-i.

[0046] Fig. Figure 2 shows a vehicle 1 with several vehicle cameras 2-i provided in the vehicle body. In the Fig. In the illustrated embodiment 2, the vehicle 1 has eight different vehicle cameras. In this embodiment, the camera system includes four surround-view cameras 2U on the vehicle 1, with the four surround-view cameras 2U capturing overlapping front, rear, right, and left sides of the vehicle 1. Surround-view camera 2U-F captures the front of the vehicle 1, surround-view camera 2U-H captures the rear, surround-view camera 2U-R captures the right side, and surround-view camera 2U-L captures the left side. In addition to the surround-view cameras 2U, the illustrated embodiment also includes two mirror cameras. As shown in Fig. Figure 2 shows a right-side mirror vehicle camera 2S-R and a left-side mirror vehicle camera 2S-L. The right and left mirror vehicle cameras capture the left and right side mirror areas of the vehicle, as shown in Figure 2. Fig. Figure 2 illustrates this. Furthermore, the camera system of vehicle 1 has a front-facing camera 2F and a rear-facing camera 2H, which capture the front and rear of vehicle 1. In one possible embodiment, if a camera image transmitted by the rear-facing camera 2H fails, the failed camera image is reconstructed, at least partially, by the processing unit 4 based on the partially overlapping camera images of the two mirror-mounted cameras 2S-L, 2S-R and their camera parameters KP. As can be seen in Fig. As can be seen in outline 2, the viewing areas of the two mirror vehicle cameras 2S-L, 2S-R overlap from a certain distance behind the rear of the vehicle 1.

[0047] In another possible embodiment of the camera system according to the invention, a composite image of the surroundings is calculated from the images of the vehicle's surround-view cameras 2U-F, 2U-H, 2U-R, and 2U-L. If one of the camera images from a surround-view camera fails, the processing unit 4 of the camera system reconstructs at least part of the failed image, based on the partially overlapping images from the other surround-view cameras and their camera parameters. For example, if the rear-view camera of vehicle 1 fails, its images can be reconstructed at least partially based on the two surround-view cameras 2U-R and 2U-L mounted on the sides of vehicle 1.

[0048] Fig. Figure 3 shows a diagram illustrating a possible embodiment of the camera system according to the invention for a vehicle 1. A user N or driver controls the vehicle 1 using a camera system that is mounted on a camera. Fig. 3. The steering wheel L is symbolically indicated. In front of the user or driver N, above the steering wheel L, is a first display unit 6A of the camera system. In addition, 1 further display devices may be provided in the vehicle. For example, in the Fig.In the embodiment shown in Figure 3, a rearview mirror display 6B is provided in the vehicle compartment. Furthermore, a front display or head unit display 6C may also be provided. In one possible embodiment, the vehicle 1 also has a left mirror display 6D and a right mirror display 6E. The mirror displays 6B, 6D, 6E can be provided in addition to or replace conventional optical mirrors. The left and right mirror displays 6D, 6E show the driver or user N a reflection of the vehicle's surroundings, calculated by the processing unit 4, in the left and right side mirror areas of the vehicle 1. If a display fails, this can be automatically indicated to the driver N on a still-functioning display. Furthermore, if a display of the vehicle 1 fails, the system can automatically switch to another display or a dedicated backup display.A display failure can be detected by a circuit logic. This detection unit can be integrated into the display itself and report the failure to the camera system's processing unit 4. Furthermore, if, for example, a mirror display 6D or 6E fails, the mirror image can be switched or transferred to another display unit within the vehicle, such as the cluster display 6A or the head unit display 6C. Additionally, when switching from a defective display unit to another, the corresponding image to be displayed can be processed and scaled to the size of the replacement display.

[0049] Further embodiments of the camera system according to the invention are possible. For example, if a camera image from one vehicle camera 2-i fails, the orientation of the remaining corresponding cameras can be changed after the failure is detected in order to achieve the greatest possible overlap of the viewing areas of the remaining vehicle cameras 2-i. Subsequently, the processing unit 4 calculates the failed camera image at least partially based on the remaining, at least partially overlapping, camera images from the appropriately configured vehicle cameras 2-i, taking into account the adapted camera parameters KP of the remaining vehicle cameras 2-i, in particular their changed orientation angles.In this embodiment, some of the camera parameters KP of a vehicle camera are not fixed, but can be readjusted if another vehicle camera fails, in order to achieve the largest possible overlap of the viewing areas of the remaining functional vehicle cameras.

[0050] In one possible embodiment of the camera system according to the invention, the vehicle cameras 2-i transmit the camera images in real time in DP data packets, in particular as Ethernet data packets. In this embodiment, video sequences or camera images can be delivered to all substitute displays via multicast transmission.

[0051] The camera system according to the invention can be used for various types of vehicles, particularly road vehicles. The camera system according to the invention is suitable for passenger cars and trucks. Furthermore, the camera system is suitable for passenger transport vehicles, especially buses. In addition to road vehicles, the camera system can also be used for watercraft, rail vehicles, or aircraft. The fail-safe camera system according to the invention can be used particularly when maneuvering watercraft in ports or aircraft at airports.

[0052] The invention also provides a method for the fail-safe operation of a camera system which captures several vehicle cameras 2-i to generate camera images that reproduce areas of the environment of a vehicle 1, wherein the viewing areas of the vehicle cameras 1 overlap at least partially.

[0053] In the method according to the invention, if a camera image transmitted by a vehicle camera 2-i fails, the failed camera image is at least partially reconstructed based on other, at least partially overlapping, camera images from the other vehicle cameras, depending on camera parameters KP of the other vehicle cameras. In the method according to the invention, images or camera images from the other vehicle cameras are transformed in such a way that they provide the same perspective view that would have been provided by the original failed camera. Perspective mapping algorithms can be used for this purpose.

[0054] Vehicle cameras 2-i can include different types of cameras. For example, vehicle cameras 2-i can be fisheye cameras with wide-angle lenses. Furthermore, vehicle cameras 2-i can capture the environment in various frequency ranges, such as visible light or other frequency ranges, like infrared.

[0055] In one possible embodiment, after a camera image from a vehicle camera fails, the system monitors whether the image returns during subsequent operation. For example, if a vehicle camera 2-i fails briefly due to vibrations, it is possible that the image will return after the vibration or shock ceases. In this case, the processing unit 4 can stop the reconstruction of the lost camera image and resume using the original image supplied by vehicle camera 2-i for further operation. Reference symbol list 1 vehicle 2 vehicle cameras 3 lines 4 Calculation unit 5 Data storage 6 Display unit

Claims

[1] Camera system for a vehicle (1) with several vehicle cameras (2) for generating camera images, the areas of the vehicle's surroundings (1) are reproduced, wherein the viewing areas of the vehicle cameras (2) overlap at least partially, and in the event of a failure of a camera image transmitted by a vehicle camera (2) by a computing unit (4) the failed camera image is reconstructed at least partially on the basis of other at least partially overlapping camera images of the other vehicle cameras (2), characterized by , that the failed camera image is reconstructed depending on camera parameters (KP) of the other vehicle cameras (2), wherein the camera parameters (KP) of the vehicle cameras (2) are stored and have intrinsic camera parameters and extrinsic camera parameters. [2] Camera system according to claim 1, wherein the camera parameters (KP) of the vehicle cameras (2) of the vehicle (1) are used by the computing unit (4) to reconstruct the failed camera image on the basis of the remaining at least partially overlapping camera images of the remaining vehicle cameras (2) in the event of a failure of a camera image of a vehicle camera (2). [3] Camera system according to claim 1 or 2, wherein the extrinsic camera parameters of the vehicle camera (2) comprise position coordinates of the vehicle camera (2) in a coordinate system of the vehicle (1) and alignment angle of the vehicle camera (2). [4] Camera system according to any one of the preceding claims 1 to 3, wherein the intrinsic camera parameters of the vehicle camera (2) comprise optical parameters of the camera optics of the vehicle camera (2) and electrical parameters of an image data processing unit of the vehicle camera (2). [5] Camera system according to any one of the preceding claims 1 to 4, wherein the camera image supplied by a vehicle camera (2) of the vehicle (1) is displayed directly as a display image on a display (6) of the vehicle (1) or is processed with camera images supplied by other vehicle cameras by an image data processing unit to form a display image which is displayed on a display (6) of the vehicle (1). [6] Camera system according to claim 5, wherein the failure of the display (6) of the vehicle (1) is automatically switched to another display of the vehicle (1) or to a specially provided replacement display. [7] Camera system according to any one of the preceding claims 1 to 6, wherein the failure of a camera image transmitted by a vehicle camera (2) is detected by the computing unit (4) and, after detection of the failure of the camera image, the failed camera image is at least partially reconstructed by the computing unit (4) on the basis of the other at least partially overlapping camera images of the other vehicle cameras (2) depending on camera parameters (KP) of the other vehicle cameras (2). [8] Camera system according to claim 7, wherein the failure of a camera image transmitted by a vehicle camera (2) is detected by means of an image data analysis of the camera image content performed by the computing unit (4). [9] Camera system according to claim 7, wherein the vehicle cameras (2) transmit the camera images in data packets to the computing unit (4), which detects a failure of a camera image transmitted by a vehicle camera (2) by evaluating header data of the data packets. [10] Camera system according to any one of the preceding claims 1 to 9, wherein four surround-view vehicle cameras (2UF, 2UH, 2UL, 2UR) are provided in the vehicle (1) which capture an overlapping front, rear, right side and left side area of ​​the vehicle (1) and / or a right and left mirror vehicle camera (2SL, 2SR) is provided in the vehicle (1) which capture a left and right side mirror area of ​​the vehicle (1) and / or a front vehicle camera (2F) and a rear vehicle camera (2H) are provided, which capture a front area and a rear area of ​​the vehicle (1). [11] Camera system according to claim 10, wherein in the event of failure of a camera image transmitted by the rear vehicle camera (2H) the failed camera image is at least partially reconstructed by the computing unit (4) on the basis of the partially overlapping camera images of the two mirror vehicle cameras (2SL, 2SR) and their camera parameters. [12] Camera system according to claim 10 or 11, wherein a composite environmental image is calculated from the camera images supplied by the surrounding vehicle cameras (2UF, 2UH, 2UL, 2UR), which, in the event of failure of one of the camera images of a surrounding vehicle camera (2UF, 2UH, 2UL, 2UR), is at least partially reconstructed by the calculation unit (4) on the basis of the partially overlapping camera images of the other surrounding vehicle cameras and their camera parameters (KP). [13] Camera system according to any one of the preceding claims 1 to 12, wherein a left mirror display (6D) and a right mirror display (6E) are provided, each of which displays to the driver (N) a mirror image of the vehicle environment calculated by the calculation unit (4) in the left and right side mirror area of ​​the vehicle (1). [14] Method for fail-safe operation of a camera system comprising several vehicle cameras (2) for generating camera images that reproduce areas of the vehicle's (1) surroundings, wherein the viewing areas of the vehicle cameras (2) overlap at least partially, wherein, in the event of a failure of a camera image transmitted by a vehicle camera (2), the failed camera image is reconstructed at least partially on the basis of other at least partially overlapping camera images from the other vehicle cameras (2), characterized by , that the failed camera image is reconstructed depending on camera parameters (KP) of the other vehicle cameras (2), wherein the camera parameters (KP) of the vehicle cameras (2) are stored and have intrinsic camera parameters and extrinsic camera parameters.

Images