DETECTION OF LENS CONTAMINATION USING EXPECTED EDGE TRAJECTORIES

摘要

A method for detecting contaminations on a lens of a vehicle camera. Transition values are assigned to pixels of image frames. Three-dimensional coordinates are assigned to the pixels by using a simplified model of the scene. Using the assigned coordinates and movement data, trajectories are assigned to the pixels. An expectation value is derived from a transition value of a starting pixel of a trajectory and a satisfied transition value is derived from transition values along the trajectory. The expectation value and the satisfied transition value are accumulated over time, and a cleanliness value is derived from a ratio of the accumulated satisfied transition value to the accumulated expectation value.