Method for determining optical flux of pixels in images in vehicle, involves determining actual optical flux field by iterative numerical solution process, and determining optical flux of pixels from determined actual optical flux field

摘要

The method involves determining a depth structure (T) of a scene formed on images (B1, B2) and a movement (B) of a detector by sensors. An optical flux field (Uexp) is estimated from the depth structure and the movement of the detector. An actual optical flux field (Ut) is determined by an iterative numerical solution process depending on the estimated of the optical flux field. An optical flux (U) of pixels (P1, P2) in the images is determined from the determined actual optical flux field. The movement of the detector is determined by assumption of a stationary world. The sensor is used as a radar sensor, a light detection and ranging sensor, a stereo camera, a time-of-flight sensor and/or a laser scanner.