| 摘要 |
The invention relates to a method for determining an image depth value (32) of a pixel in a second image (14) of an environmental region (7) of a motor vehicle (1). A first image (13) of the environmental region (7) is captured by means of a camera system (3) of the motor vehicle (1) in a first position (8) of the motor vehicle (1). Furthermore, the second image (14) of the environmental region (7) is captured by means of the camera system (3) in a second position (9) of the motor vehicle (1) different from the first position (8). The first position (8) and the second position (9) are mapped into a coordinate system (25). In addition, a rectilinearly extending connecting line (15) is generated, which extends at least through the first position (8) and the second position (9). Furthermore, a target point (23) depending on the first position (8) and the second position (9) is determined on the connecting line (15) in a rectilinear second length section (24a) of the connecting line (15), wherein the second length section (24a) extends in extension of a first length section (24b) generated between the first position (8) and the second position (9) adjoining to the second position (9). The target point (23) is projected into the second image (14) as a projected target point (29) and an image region (30, 31) in the second image (14) is determined around the projected target point (29). In addition, the image depth value (32) of the pixel is determined in the second image (14) depending on the image region (30, 31). |
