| 摘要 |
The invention relates to a method for classifying a flow vector (19) of an object point (P) of an object in an environmental region (6) of a motor vehicle (1), which is determined according to the optical flow method in an image sequence (7) captured by a camera (3) of the motor vehicle (1). A first pixel (p) of a first image (8) of the image sequence (7), which is captured by means of the camera (3) and a first projection center (11), and a corresponding second pixel (p*) of a second image (9) of the image sequence (7), which is captured by means of the camera (3) and a second projection center (15) different from the first projection center (11) are connected by the flow vector (19), wherein a ray (10) from the first projection center (11) to the first pixel (p) and further to the object point (P) is determined. Furthermore, a first auxiliary point (13) is determined on the ray (10), which is disposed between the first pixel (p) and the object point (P), and a second auxiliary point (14) is determined on the ray (10), which is disposed farther away from the first projection center (11) compared to the object point (P). The first auxiliary point (13) and the second auxiliary point (14) are projected into the second image (9), and a projected first auxiliary point (16) of the first auxiliary point (13) and a projected second auxiliary point (17) of the second auxiliary point (14) are connected by a connecting line segment (18). A distance (20) is determined from the second pixel (p*) to the connecting line segment (18), and depending on the determined distance (20), the flow vector (19) of the second pixel (p*) is associated with a class static or a class dynamic. |
