Abstract: A method for determining a movement of a device relative to at least one object based a digital image sequence of the object recorded from the location of the device. The method includes computing a plurality of optical flow fields from image pairs of the digital image sequence; finding the position of an object in a partial image region in the most current image in each case and assigning the partial image region to the object; forming a plurality of partial optical flow fields from the plurality of optical flow fields; selecting a partial flow fields from the plurality of partial flow fields in accordance with at least one criterion to facilitate the estimation of a change in scale of the object; and estimating the change in scale for the at least one object using the assigned partial image region based on the selected partial flow field.

Abstract: A method for environmental acquisition for acquiring the surrounding environment of a vehicle. Using a plurality of cameras and/or sensor devices, from at least two positions, images of the surrounding environment are produced, and on the basis of the images a free surface, as well as a contour bounding the free surface, are ascertained. Separately for each image and the contour determined on the basis of this image, for a multiplicity of points along the contour, feature vectors are calculated and entered into a one-dimensional array. Through matching of the one-dimensional arrays, correspondences are sought for which the three-dimensional position is subsequently ascertained by triangulation. A computing unit for carrying out at least individual method steps of the method is also described.

Abstract: A method for calibrating a detection system. The detection system including at least one movable detection device. The method includes: ascertaining at least two possible different positions of the at least one movable detection device, precalibrating the at least one movable detection device based on each of the at least two possible positions, providing precalibration information for the at least two possible positions, —ascertaining an instantaneous positioning of the at least one movable detection device, ascertaining calibration information for the instantaneous position on the basis of the precalibration information, and calibrating the at least one movable detection device in the instantaneous position on the basis of the provided calibration information.

Abstract: A method for determining a movement of a device relative to at least one object based a digital image sequence of the object recorded from the location of the device. The method includes computing a plurality of optical flow fields from image pairs of the digital image sequence; finding the position of an object in a partial image region in the most current image in each case and assigning the partial image region to the object; forming a plurality of partial optical flow fields from the plurality of optical flow fields; selecting a partial flow fields from the plurality of partial flow fields in accordance with at least one criterion to facilitate the estimation of a change in scale of the object; and estimating the change in scale for the at least one object using the assigned partial image region based on the selected partial flow field.

Abstract: A method for calibrating a detection system. The detection system including at least one movable detection device. The method includes: ascertaining at least two possible different positions of the at least one movable detection device, precalibrating the at least one movable detection device based on each of the at least two possible positions, providing precalibration information for the at least two possible positions, —ascertaining an instantaneous positioning of the at least one movable detection device, ascertaining calibration information for the instantaneous position on the basis of the precalibration information, and calibrating the at least one movable detection device in the instantaneous position on the basis of the provided calibration information.

Abstract: A method for environmental acquisition for acquiring the surrounding environment of a vehicle. Using a plurality of cameras and/or sensor devices, from at least two positions, images of the surrounding environment are produced, and on the basis of the images a free surface, as well as a contour bounding the free surface, are ascertained. Separately for each image and the contour determined on the basis of this image, for a multiplicity of points along the contour, feature vectors are calculated and entered into a one-dimensional array. Through matching of the one-dimensional arrays, correspondences are sought for which the three-dimensional position is subsequently ascertained by triangulation. A computing unit for carrying out at least individual method steps of the method is also described.

Abstract: A method and an apparatus for generating superpixels for a sequence of images. A cluster assignment generator generates a cluster assignment for a first image of the sequence of images, e.g. by clustering pixels of the first image into superpixels or by retrieving an initial cluster assignment for the first image and processing only contour pixels with regard to their cluster assignment. A label propagator initializes subsequent images based on a label propagation using backward optical flow. A contour pixel processor then processes only contour pixels with regard to their cluster assignment for subsequent images of the sequence of images.

Abstract: A method for generating superpixels for an image comprising pixels and an apparatus configured to perform the method. A clustering stage clusters the pixels into initial clusters. A determination stage then selects spatially coherent parts of the clusters and determines unconnected fragments of the clusters. Pixels of these unconnected fragments are iteratively assigned to adjacent clusters by an assignment stage using a contour evolution process.

Abstract: A method and an apparatus for generating superpixels for a sequence of images are described. A segmenter segments an image of the sequence of images into a set of initial superpixels. A motion analyzer then determines static and non-static areas in the sequence of images. Based on an output of the motion analyzer the segmenter generates updated superpixels for non-static areas of the sequence of images, and maintains those superpixels of the set of initial superpixels belonging to static areas of the sequence of images.

Abstract: A method and an apparatus for removing outliers from a main view of a scene during 3D reconstruction of a scene from multiple views of the scene. A 3D projection unit projects a 3D point of a pixel of the main view into neighboring views. A comparator then compares the distance of each of the projected 3D points in the neighboring views to the 3D point of the main view with a defined distance threshold. Based on the comparison a flagging unit assigns flags to the pixel in the main view. Finally, depending on values of the flags a rejecting unit rejects the pixel in the main view as an outlier.

Abstract: A method for hierarchical disparity estimation on an image pair, wherein image pyramids are created by successively downscaling each image of the image pair, and an apparatus configured to perform the method are described. An initial disparity estimator applies a full search on a highest level of the image pyramids to determine initial disparity estimates, the highest level having the lowest resolution. A disparity propagator passes the initial disparity estimates to a next lower level of the image pyramids. An allocator then partitions the pixels of each remaining hierarchy level of the image pyramids into two or more groups of pixels, where each pixel in a group of pixels can be processed independently from remaining pixels of that group of pixels. A disparity estimator estimates disparity values for the pixels of a first group of pixels utilizing disparity estimates from a next higher level of the image pyramids.

Abstract: A method and an apparatus for generating superpixels for a sequence of frames. A feature space of the sequence of frames is separated into a color subspace and a spatial subspace. A clustering is then performed in the spatial subspace on a frame basis. In the color subspace a clustering is performed on stacked frames. An erroneous temporal consistency of a superpixel associated to a frame is detected by performing a similarity check between a corresponding superpixel in one or more past frames and one or more future frames using two or more metrics. The affected superpixels is future frames are corrected accordingly.

Abstract: A method and an apparatus for life cycle management for superpixels associated to frames of a sequence of frames are described. An area occupied by a superpixel in a frame of the sequence of frames is monitored. In case the area of the superpixel becomes smaller than a specified first value, the superpixel is terminated in the later frame. In case the area of the superpixel becomes larger than a specified second value, the superpixel is split in the later frame.

Abstract: A method and an apparatus for generating a confidence map for a disparity map associated to a set of two or more images are described. Motion between at least two subsequent sets of two or more images is determined. Based on the determined motion information static and dynamic regions in the images of the sets of two or more images are detected and separated. A disparity change between a disparity value determined for a static region of a current image and a motion compensated disparity value of a previous image is determined. The result of the determination is taken into account for generating or refining a confidence map.

Abstract: A method and an apparatus for generating superpixels for a sequence of frames are presented. A feature space of the sequence of frames is separated into a color subspace and a spatial subspace. A clustering is then performed that comprises iterative assigning and updating.

Abstract: A method and an apparatus for recovering a component of a distortion field of an image of a set of multi-view images are described. Also described are a method and an apparatus for determining a disparity field of an image of a set of multi-view images, which makes use of such method. In a first step pixel correspondences between the image and another image of the set of multi-view images are determined. A disparity field is then determined from at least a subset of the determined pixel correspondences. The disparity field is smoothed and the component of the distortion field is estimated from the smoothed disparity field. When determining a second disparity field the estimated component of the distortion field is taken into account when determining pixel correspondences between the image and another image of the set of multi-view images.

Abstract: A method and an apparatus for life cycle management for superpixels associated to frames of a sequence of frames are described. An area occupied by a superpixel in a frame of the sequence of frames is monitored. In case the area of the superpixel becomes smaller than a specified first value, the superpixel is terminated in the later frame. In case the area of the superpixel becomes larger than a specified second value, the superpixel is split in the later frame.

Abstract: A method and an apparatus for generating superpixels for a sequence of images are described. A segmenter segments an image of the sequence of images into a set of initial superpixels. A motion analyzer then determines static and non-static areas in the sequence of images. Based on an output of the motion analyzer the segmenter generates updated superpixels for non-static areas of the sequence of images, and maintains those superpixels of the set of initial superpixels belonging to static areas of the sequence of images.

Abstract: A method and an apparatus for determining a confidence value of a disparity estimate for a pixel or a group of pixels of a selected image of at least two stereo images are described, the confidence value being a measure for an improved reliability value of the disparity estimate for the pixel or the group of pixels. First an initial reliability value of the disparity estimate for the pixel or the group of pixels is determined, wherein the reliability is one of at least reliable and unreliable. Then a distance of the pixel or the group of pixels to a nearest pixel or group of pixels with an unreliable disparity estimate is determined. Finally, the confidence value of the disparity estimate for the pixel or the group of pixels is obtained from the determined distance.

Abstract: A method and an apparatus for generating a confidence map for a disparity map associated to a set of two or more images are described. Motion between at least two subsequent sets of two or more images is determined. Based on the determined motion information static and dynamic regions in the images of the sets of two or more images are detected and separated. A disparity change between a disparity value determined for a static region of a current image and a motion compensated disparity value of a previous image is determined. The result of the determination is taken into account for generating or refining a confidence map.