METHOD FOR REPRESENTING SURROUNDINGS

摘要

The invention relates to a method for representing surroundings, wherein in each case two images of surroundings (U) are recorded and a disparity image is determined by means of stereo image processing. According to the invention, an unobstructed free space (F) is identified in the disparity image in that each pixel of the disparity image is assigned either to an unobstructed base surface (B) or one of several segments (S1 1 to Sn u) in accordance with disparity values of the respective pixel. Segments (S1 1 to Sn u) of the same width are formed from pixels having the same or similar spacing with respect to an image plane, wherein an object (O1 to Ok) located outside the free space (F) is modelled in the surroundings (U) by means of a segment (S1 1 to Sn u) or a plurality of segments (S1 1 to Sn u).