Abstract: A method of recognizing edges in a camera image (A) produced by a camera, includes steps of: assigning (S1) a respective scaling size to each pixel (aij) of the camera image (A) as a function of an object distance, relative to the camera, of a spatial region imaged in the respective pixel (aij); producing (S2) an integral image (B) from the camera image (A); applying (S3) Haar wavelet transforms to the pixels (bij) of the integral image (B) to generate a gradient image (C), wherein a scaling of the Haar wavelets is determined for each pixel (bij) of the integral image (B) taking account of the scaling size assigned to the corresponding pixel (aij) of the camera image (A); and recognizing (S4) edges in the camera image (A) using the generated gradient image (C).

Abstract: The invention relates to a method for recognizing edges in a camera image (A) produced by means of a camera, having the steps of: assigning (Si) a respective scaling size to each pixel (aij) of the camera image (A) as a function of object distances of a spatial region imaged in the pixel (aij) with respect to the camera; producing (S2) an integral image (B) from the camera image (A); applying (S3) Haar wavelet transforms to the pixels (bij) of the produced integral image (B) in order to generate a gradient image (C), wherein a scaling of the Haar wavelets is determined for each pixel (bij) of the integral image (B) which is to be transformed, taking account of the scaling size assigned to the corresponding pixel (aij) of the camera image (A); and recognizing (S4) edges in the camera image (A) using the generated gradient image (C).