CA2460695A1 - Moisture sensor utilizing stereo imaging with an image sensor - Google Patents

Moisture sensor utilizing stereo imaging with an image sensor Download PDF

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Publication number
CA2460695A1
CA2460695A1 CA002460695A CA2460695A CA2460695A1 CA 2460695 A1 CA2460695 A1 CA 2460695A1 CA 002460695 A CA002460695 A CA 002460695A CA 2460695 A CA2460695 A CA 2460695A CA 2460695 A1 CA2460695 A1 CA 2460695A1
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CA
Canada
Prior art keywords
image
sensor
sensor array
moisture
arrays
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002460695A
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French (fr)
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CA2460695C (en
Inventor
Harold C. Ockerse
John K. Roberts
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Gentex Corp
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Gentex Corporation
Harold C. Ockerse
John K. Roberts
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Publication of CA2460695A1 publication Critical patent/CA2460695A1/en
Application granted granted Critical
Publication of CA2460695C publication Critical patent/CA2460695C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0833—Optical rain sensor
    • B60S1/0844—Optical rain sensor including a camera
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/97—Determining parameters from multiple pictures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
    • H04N13/218—Image signal generators using stereoscopic image cameras using a single 2D image sensor using spatial multiplexing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
    • H04N23/811—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation by dust removal, e.g. from surfaces of the image sensor or processing of the image signal output by the electronic image sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0833—Optical rain sensor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30268—Vehicle interior
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/161—Encoding, multiplexing or demultiplexing different image signal components
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/257—Colour aspects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S318/00—Electricity: motive power systems
    • Y10S318/02—Windshield wiper controls

Abstract

A moisture sensing system of the present invention includes first and second sensor arrays, at least one optical system operative to image the same portion of the surface onto both of the sensor arrays, and a processing system in communication with the sensor arrays and operative to analyze images from the sensor arrays to detect moisture. The sensor arrays may be two-dimensional sensor arrays that are separate or different portions of the same sensor array. This system may be used to control the windshield wipers of a vehicle.
The processing system may be configured to subtract an image obtained from the first sensor array from an image obtained from the second sensor array to distinguish between near field and far field objects.

Claims (28)

1. A system for detecting moisture on a surface comprising:
a sensor array having first and second portions;
at least one optical system operative to image the same portion of the surface onto both of said portions of said sensor array; and a processing system in communication with said sensor array and operative to analyze images from said first and second portions of said sensor array to detect moisture.
2. The system of claim 1, wherein said processing system is configured to detect edges of the images from said image sensor array portions.
3. The system of claim 2, wherein said processing system is further configured to compare the relative position of edges detected in an image from said first portion of said sensor array with the relative position of edges detected in an image from said second portion of said sensor array to distinguish objects on the surface from far field objects.
4. The system of claim 1, wherein said processing system is configured to compare the relative position of objects in an image from said first portion of said sensor array with the relative position of objects in an image from said second portion of said sensor array to distinguish objects on the surface from far field objects.
5. The system of claim 1, wherein said processing system is configured to digitize and subtract images from said first and second portions of said sensor arrays to distinguish objects on the surface from far field objects.
6. The system of claim 1, wherein said first and second portions of said sensor array are vertically offset from one another.
7. The system of claim 1 and further including a rearview mirror assembly, wherein said sensor array is supported on said rearview mirror assembly.
8. The system of claim 1 and further including a rearview mirror assembly, wherein at least a portion of said processing system is supported on said rearview mirror assembly.
9. The system of claim 1, wherein said processing system reads image data from at least one row but less than all rows of said first portion of said sensor array and image data from corresponding row(s) of said second portion of said sensor array, compares the image data read, and stores the result of the comparison prior to reading image data from additional rows of said first and second portions of said sensor array.
10. The system of claim 1, wherein said first and second portions of said sensor array are two-dimensional arrays.
11. The system of claim 1, wherein said first and second portions of said sensor array acquire data simultaneously.
12. A system for detecting moisture on a surface comprising:
first and second sensor arrays spatially offset from one another;
at least one optical system operative to image the same portion of the surface onto both of said sensor arrays; and a processing system in communication with said sensor arrays and operative to analyze images from said sensor arrays to detect moisture, wherein said processing system reads image data from at least one row but less than all rows of said first sensor array and image data from corresponding row(s) of said second sensor array, compares the image data read, and stores the result of the comparison prior to reading image data from additional rows of said sensor arrays.
13. The system of claim 12, wherein said processing system is configured to detect edges of the images from said image sensor arrays.
14. The system of claim 12, wherein said first and second sensor arrays are two-dimensional arrays.
15. The system of claim 12, wherein said first and second sensor arrays are portions of two separate image sensor.
16. The system of claim 12, wherein said first and second sensor arrays are two different portions of the same image sensor.
17. The system of claim 12, wherein said first and second sensor arrays are vertically offset from one another.
18. The system of claim 12 and further including a rearview mirror assembly, wherein said first and second sensor arrays are supported on said rearview mirror assembly.
19. A method of detecting moisture on a surface comprising the steps of:
obtaining two two-dimensional images of the same portion of the surface from two different angles;
digitizing the two images; and subtracting the two digitized images from one another to thereby remove far field objects from a resultant image while leaving information relating to near field objects in the resultant image, wherein the near field objects correspond to moisture on the surface.
20. A windshield wiper control system for a vehicle comprising:
first and second two-dimensional image sensors;
an optical system operative to image the same portion of the surface of the vehicle windshield onto said first and second image sensors; and a processing circuit in communication with said image sensors and operative to analyze images from said image sensors to detect moisture on the windshield and to activate the windshield wipers when moisture is detected.
21. The system of claim 20, wherein said processing circuit is configured to detect edges in the images from said image sensors.
22. The system of claim 20, wherein said processing circuit is further configured to compare the relative position of edges detected in an image from said first image sensor with the relative position of edges detected in an image from said second image sensor to distinguish objects on the surface from for field objects.
23. The system of claim 20, wherein said processing circuit is configured to compare the relative position of objects in an image from said first image sensor with the relative position of objects in an image from said second image sensor to distinguish objects on the surface from far field objects.
24. The system of claim 20, wherein said processing circuit is configured to digitize and subtract the images from said first and second image sensors to distinguish objects on the surface from far field objects.
25. The system of claim 20, wherein said first and second image sensors are two adjacent portions of the same image sensor device.
26. The system of claim 20, wherein said first and second image sensors are portions of two separate image sensor devices.
27. The system of claim 20 and further including a rearview mirror assembly, wherein said image sensor arrays are supported on said rearview mirror assembly.
28. The system of claim 20 and further including a rearview mirror assembly, wherein at least a portion of said processing circuit is supported on said rearview mirror assembly.

30. A system for use in a controlled vehicle comprising:
an optical system including an array of sensors; and a processing subsystem in communication with said sensors for sensing moisture on a windshield of the controlled vehicle and for detecting lights of vehicles generally in front of the controlled vehicle and controlling exterior lights of the controlled vehicle, wherein said processing subsystem disables activation of high beam headlamps of the controlled vehicle when moisture is detected on the vehicle windshield.

31. The system of claim 30, wherein the processing subsystem includes a microprocessor coupled to both an exterior light control circuit and a windshield wiper control circuit of the controlled vehicle.

32. The system of claim 30, wherein said processing subsystem does not attempt to detect lights of vehicles generally in front of the controlled vehicle when moisture is sensed on the windshield.

33. The system of claim 30, wherein said processing subsystem activates low beam headlamps of the controlled vehicle when moisture is sensed on the windshield.

34. A system for use in a controlled vehicle comprising:
an optical system including two arrays of sensors and a red filter for filtering all but red light from light projected onto one of the two sensor arrays;
a light source for projecting red light onto a windshield of the controlled vehicle;
and a processing subsystem in communication with said sensors for sensing moisture on the windshield of the controlled vehicle.

35. The system of claim 34, wherein said optical system includes two lenses, each lens focusing light from the same region on the windshield onto a different one of said arrays of sensors.

36. The system of claim 34, wherein said two sensor arrays are different regions of a larger array of sensors.

37. The system of claim 34, wherein said processing subsystem detects lights of vehicles generally in front of the controlled vehicle and controls exterior lights of the controlled vehicle.

38. The system of claim 37, wherein said processing subsystem disables activation of high beam headlamps of the controlled vehicle when moisture is detected on the vehicle windshield.
CA2460695A 2001-10-04 2002-10-02 Moisture sensor utilizing stereo imaging with an image sensor Expired - Fee Related CA2460695C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US09/970,962 2001-10-04
US09/970,962 US6617564B2 (en) 2001-10-04 2001-10-04 Moisture sensor utilizing stereo imaging with an image sensor
PCT/US2002/031356 WO2003029056A2 (en) 2001-10-04 2002-10-02 Moisture sensor utilizing stereo imaging with an image sensor

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CA2460695A1 true CA2460695A1 (en) 2003-04-10
CA2460695C CA2460695C (en) 2010-02-09

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US (2) US6617564B2 (en)
EP (1) EP1456703B1 (en)
JP (1) JP3970843B2 (en)
AT (1) ATE338959T1 (en)
AU (1) AU2002362455A1 (en)
CA (1) CA2460695C (en)
DE (1) DE60214593T2 (en)
MX (1) MXPA04002990A (en)
WO (1) WO2003029056A2 (en)

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