Abstract: The invention relates to a method for operating a vehicle assistance or control system with a vehicle and with an offboard obstacle recognition sensor for recognizing obstacles for the vehicle, wherein the vehicle includes an onboard obstacle recognition sensor for recognizing obstacles to the vehicle, wherein a first grid map is generated relative to the offboard obstacle recognition sensor, a second grid map relative to the onboard obstacle recognition sensor, or respectively relative to the vehicle, and wherein a consolidated grid map is generated depending on the first grid map and the second grid map.

Abstract: The invention relates to a vehicle assistance or control system with a vehicle and with an in particular autonomously drivable offboard obstacle recognition sensor for recognizing obstacles to the vehicle, wherein the vehicle includes an onboard obstacle recognition sensor for recognizing obstacles to the vehicle, wherein the vehicle assistance or control system includes a synchronization circuit for determining the alignment of the offboard obstacle recognition sensor relative to the vehicle, and/or relative to the onboard obstacle recognition sensor depending on an output signal from the offboard obstacle recognition sensor and an output signal from the onboard obstacle recognition sensor.

Abstract: A method for masking objects contained in an image is provided, wherein pixel values are determined for pixels of an image. An image mask is generated, which comprises at least one first region in which pixels of a predefined object class are arranged and at least one second region in which pixels of said predefined object class are not arranged. The distance to the nearest pixel in the second region is determined for pixels in the at least one first region. Pixels in the at least one first region are assigned a window that has a window size that depends on the determined distance. At least one new pixel value is determined for a pixel from the pixel values of the pixels within the window assigned to the pixel. The original pixel values of pixels in the one first region are replaced with the respective new pixel values.

Abstract: In a method for determining the geographic position and orientation of a vehicle, an image of the vehicle's surroundings is recorded by at least one camera of the vehicle, wherein the recorded image at least partially comprises regions of the vehicle's surroundings on the ground level. Classification information is generated for the individual pixels of the recorded image and indicates an assignment to one of several given object classes, wherein based on this assignment, a semantic segmentation of the image is performed. Ground texture transitions based on the semantic segmentation of the image are detected. The detected ground texture transitions are projected onto the ground level of the vehicle's surroundings. The deviation between the ground texture transitions projected onto the ground level of the vehicle's surroundings and ground texture transitions in a global reference map is minimized. The current position and orientation of the vehicle in space is output based on the minimized deviation.

Abstract: A method for masking objects contained in an image is provided, wherein pixel values are determined for pixels of an image. An image mask is generated, which comprises at least one first region in which pixels of a predefined object class are arranged and at least one second region in which pixels of said predefined object class are not arranged. The distance to the nearest pixel in the second region is determined for pixels in the at least one first region. Pixels in the at least one first region are assigned a window that has a window size that depends on the determined distance. At least one new pixel value is determined for a pixel from the pixel values of the pixels within the window assigned to the pixel. The original pixel values of pixels in the one first region are replaced with the respective new pixel values.

Abstract: The invention relates to a method for operating a vehicle assistance or control system with a vehicle and with an offboard obstacle recognition sensor for recognizing obstacles for the vehicle, wherein the vehicle includes an onboard obstacle recognition sensor for recognizing obstacles to the vehicle, wherein a first grid map is generated relative to the offboard obstacle recognition sensor, a second grid map relative to the onboard obstacle recognition sensor, or respectively relative to the vehicle, and wherein a consolidated grid map is generated depending on the first grid map and the second grid map.

Abstract: The invention relates to a vehicle assistance or control system with a vehicle and with an in particular autonomously drivable offboard obstacle recognition sensor for recognizing obstacles to the vehicle, wherein the vehicle includes an onboard obstacle recognition sensor for recognizing obstacles to the vehicle, wherein the vehicle assistance or control system includes a synchronization circuit for determining the alignment of the offboard obstacle recognition sensor relative to the vehicle, and/or relative to the onboard obstacle recognition sensor depending on an output signal from the offboard obstacle recognition sensor and an output signal from the onboard obstacle recognition sensor.

Abstract: A method and a device for determining a trajectory in off-road scenarios having a first sensor system for capturing a 2D image of an environment; a first computing unit for classifying 2D image points into at least three classes, wherein a first class is “intended for being driven on”, wherein a further class is “can be driven on if necessary” and another class is “cannot be driven on”; a second sensor system for determining a height profile of the environment; a second computing unit for projecting the classified image points into the height profile; and a third computing unit having a trajectory planning algorithm, wherein the third computing unit determines a trajectory using the image points of the first class, wherein the image points of the further class are additionally taken into account in response to an incomplete trajectory in the first class.

Abstract: In a method for determining the geographic position and orientation of a vehicle, an image of the vehicle's surroundings is recorded by at least one camera of the vehicle, wherein the recorded image at least partially comprises regions of the vehicle's surroundings on the ground level. Classification information is generated for the individual pixels of the recorded image and indicates an assignment to one of several given object classes, wherein based on this assignment, a semantic segmentation of the image is performed. Ground texture transitions based on the semantic segmentation of the image are detected. The detected ground texture transitions are projected onto the ground level of the vehicle's surroundings. The deviation between the ground texture transitions projected onto the ground level of the vehicle's surroundings and ground texture transitions in a global reference map is minimized. The current position and orientation of the vehicle in space is output based on the minimized deviation.

Abstract: A method and a device for determining a trajectory in off-road scenarios having a first sensor system for capturing a 2D image of an environment; a first computing unit for classifying 2D image points into at least three classes, wherein a first class is “intended for being driven on”, wherein a further class is “can be driven on if necessary” and another class is “cannot be driven on”; a second sensor system for determining a height profile of the environment; a second computing unit for projecting the classified image points into the height profile; and a third computing unit having a trajectory planning algorithm, wherein the third computing unit determines a trajectory using the image points of the first class, wherein the image points of the further class are additionally taken into account in response to an incomplete trajectory in the first class.