Abstract: A method for determining the orientation of a surface of an object in a detection region before or behind a vehicle by means of a camera of the vehicle comprises the following steps: detecting a first image of the detection region by means of the camera, detecting a second image of the detection region following in time on the detecting of the first image and by means of the camera, generating of first image data corresponding to the first image and second image data corresponding to the second image, determining of eight image coordinates of four pixels each in the first image and the second image, corresponding to four points on the surface of the object, by means of the first image data and the second image data, determining of a normal vector of the surface of the object by means of the eight image coordinates, determining of the orientation of the surface of the object by means of the normal vector.

Abstract: The invention relates to a diagnostic method for checking the functionality of a component for the exhaust-gas aftertreatment of an internal combustion engine. For this purpose, in an internal combustion engine, a secondary air supply is provided by means of which an excess of oxygen can be generated in the exhaust gas channel essentially independently of the operating conditions of the internal combustion engine, and wherein said excess of oxygen is utilized for the measurement of an oxygen storage capacity of the component or of a signal change at the component. It is provided that the component is subsequently subjected to a substoichiometric exhaust gas in order that the oxygen release capacity or the signal change upon a change from superstoichiometric exhaust gas to a substoichiometric exhaust gas is also taken into consideration in the diagnosis. The invention also relates to a device for exhaust-gas aftertreatment, which is designed to be able to carry out a method of said type.

Abstract: The invention relates to a diagnostic method for checking the functionality of a component for the exhaust-gas aftertreatment of an internal combustion engine. For this purpose, in an internal combustion engine, a secondary air supply is provided by means of which an excess of oxygen can be generated in the exhaust gas channel essentially independently of the operating conditions of the internal combustion engine, and wherein said excess of oxygen is utilized for the measurement of an oxygen storage capacity of the component or of a signal change at the component. It is provided that the component is subsequently subjected to a substoichiometric exhaust gas in order that the oxygen release capacity or the signal change upon a change from superstoichiometric exhaust gas to a substoichiometric exhaust gas is also taken into consideration in the diagnosis. The invention also relates to a device for exhaust-gas aftertreatment, which is designed to be able to carry out a method of said type.

Abstract: The present disclosure discloses an image registration method and apparatus. The method includes: determining a target plane; orthogonally projecting the optical center of each of the cameras in the planar camera array onto the target plane, to obtain a projected point of the optical center of each of the cameras; generating a rectangular grid on the target plane according to the projected points of the optical centers of the cameras in the planar camera array; obtaining a target grid point of each of the cameras according to the rectangular grid; determining a target camera coordinate system of each of the cameras; and registering, images collected by the cameras in the planar camera array. In embodiments of the present disclosure a target camera coordinate system of a camera is determined again, thereby greatly reducing complexity of subsequent image registration.

Abstract: A method for checking the operability of a secondary-air system of an internal combustion engine includes measuring a first pressure between a first secondary-air pump and a first master secondary-air valve as well as a second master secondary-air valve, measuring a second pressure between a second secondary-air pump and a first slave secondary-air valve and a second slave secondary-air valve, controlling the first master secondary-air valve and the first slave secondary-air valve together, and controlling the second master secondary-air valve and the second slave secondary-air valve together. A secondary-air system includes a first control and a second control, wherein a first master secondary-air valve and a first slave secondary-air valve are controllable together by the first control and wherein a second master secondary-air valve and a second slave secondary-air valve are controllable together by the second control.

Abstract: A method for determining the proportion of gaseous working medium in a cylinder of an internal combustion engine includes opening an injector so as to feed fuel directly into the cylinder. The injector is connected to a fuel line in which a pressure sensor is arranged. The pressure in the fuel line is measured when the injector is open. The proportion of gaseous working medium in the cylinder is determined in conjunction with an association between the measured pressure in the fuel line when the injector is open and the proportion of gaseous working medium in the cylinder.

Abstract: The present disclosure discloses an image registration method and apparatus. The method includes: determining a target plane; orthogonally projecting the optical center of each of the cameras in the planar camera array onto the target plane, to obtain a projected point of the optical center of each of the cameras; generating a rectangular grid on the target plane according to the projected points of the optical centers of the cameras in the planar camera array; obtaining a target grid point of each of the cameras according to the rectangular grid; determining a target camera coordinate system of each of the cameras; and registering, images collected by the cameras in the planar camera array. In embodiments of the present disclosure a target camera coordinate system of a camera is determined again, thereby greatly reducing complexity of subsequent image registration.

Abstract: A method for checking the operability of a secondary-air system of an internal combustion engine includes measuring a first pressure between a first secondary-air pump and a first master secondary-air valve as well as a second master secondary-air valve, measuring a second pressure between a second secondary-air pump and a first slave secondary-air valve and a second slave secondary-air valve, controlling the first master secondary-air valve and the first slave secondary-air valve together, and controlling the second master secondary-air valve and the second slave secondary-air valve together. A secondary-air system includes a first control and a second control, wherein a first master secondary-air valve and a first slave secondary-air valve are controllable together by the first control and wherein a second master secondary-air valve and a second slave secondary-air valve are controllable together by the second control.

Abstract: A filter structure for filtering a disparity map includes a first filter, a second filter, and a filter selector. The first filter is for filtering a contemplated section of the disparity map according to a first measure of central tendency. The second filter is for filtering the contemplated section of the disparity maps according to a second measure of central tendency. The filter selector is provided for selecting the first filter or the second filter for filtering the contemplated section of the disparity map, the selection being based on at least one local property of the contemplated section. A corresponding method for filtering a disparity map includes determining a local property of the contemplated section and selecting a filter. The contemplated section is then filtered using the first filter or the second filter depending on a result of the selection.

Abstract: An apparatus for estimating a disparity map based on at least two images is provided. The apparatus includes at least two processing units, which include a pixel recursion unit configured to determine a disparity value as a pixel recursion disparity candidate based on a plurality of pixel values of the at least two images and a selector configured to select a selected disparity candidate to determine at least one of the disparity map values of the disparity map. The selector is adapted to select the selected disparity candidate from a candidate group assigned to the selector. The candidate group assigned to the selector includes the pixel recursion disparity candidate, a second disparity candidate and a third disparity candidate. Moreover, the selector is adapted to select the selected disparity candidate independently from a different selector of a different processing unit of the at least two processing units.

Abstract: A filter structure for filtering a disparity map includes a first filter, a second filter, and a filter selector. The first filter is for filtering a contemplated section of the disparity map according to a first measure of central tendency. The second filter is for filtering the contemplated section of the disparity maps according to a second measure of central tendency. The filter selector is provided for selecting the first filter or the second filter for filtering the contemplated section of the disparity map, the selection being based on at least one local property of the contemplated section. A corresponding method for filtering a disparity map includes determining a local property of the contemplated section and selecting a filter. The contemplated section is then filtered using the first filter or the second filter depending on a result of the selection.

Abstract: An apparatus for estimating a disparity map based on at least two images is provided. The apparatus includes at least two processing units, which include a pixel recursion unit configured to determine a disparity value as a pixel recursion disparity candidate based on a plurality of pixel values of the at least two images and a selector configured to select a selected disparity candidate to determine at least one of the disparity map values of the disparity map. The selector is adapted to select the selected disparity candidate from a candidate group assigned to the selector. The candidate group assigned to the selector includes the pixel recursion disparity candidate, a second disparity candidate and a third disparity candidate. Moreover, the selector is adapted to select the selected disparity candidate independently from a different selector of a different processing unit of the at least two processing units.