Patent Document ID: 9188439
Application ID: 13580688
Patent Status: 1

Claim One:
1. A method for determining distances for measuring a chassis of a vehicle having a body and at least one wheel comprising: projecting a structured light pattern at least onto the wheel; recording a light pattern reflected by the wheel with an imaging sensor system; determining a 3-D cloud diagram from the reflected light pattern; determining a center of rotation of the wheel by: adapting a parametric surface model of the wheel to the 3-D cloud diagram for various rotational positions of the wheel; calculating the wheel normal vector for the respective rotational position of the wheel; and calculating the rotational axis and therefore the center of rotation of the wheel from the spatial movement of the wheel normal vector; determining a point on the body by: illuminating the vehicle with unstructured illumination; driving the illuminated vehicle past an arrangement with at least two imaging sensors; recording a number of grayscale images while the vehicle is driving past the imaging sensors; determining the point on a lower edge of a wheelhouse in the body by evaluating the grayscale images, the evaluation of the grayscale images further comprising: performing edge detection to identify a plurality of edges in the 3-D contours; performing stereo correspondence assignment of the plurality of edges; and performing 3-D triangulation and classification of the lower edge of the wheelhouse with reference to the stereo correspondence assignment of the plurality of edges; and determining a ride height as a vertical distance between the center of rotation of the wheel and the point on the lower edge of the wheelhouse in the body.