JP2005311666A - Device for visually confirming periphery of vehicle - Google Patents
Device for visually confirming periphery of vehicle Download PDFInfo
- Publication number
- JP2005311666A JP2005311666A JP2004125329A JP2004125329A JP2005311666A JP 2005311666 A JP2005311666 A JP 2005311666A JP 2004125329 A JP2004125329 A JP 2004125329A JP 2004125329 A JP2004125329 A JP 2004125329A JP 2005311666 A JP2005311666 A JP 2005311666A
- Authority
- JP
- Japan
- Prior art keywords
- image
- captured
- viewpoint
- vehicle
- captured image
- Prior art date
- 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.)
- Pending
Links
Landscapes
- Processing Or Creating Images (AREA)
- Image Processing (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Description
本発明は、車両に設置された撮像装置によりその車両周辺を撮像し、その撮像画像を俯瞰画像に視点変換して表示装置に表示する車両周辺視認装置に関する。 The present invention relates to a vehicle periphery visualizing device that captures an image of the periphery of the vehicle with an imaging device installed in the vehicle, converts the captured image into a bird's-eye view image, and displays the image on a display device.
例えば図２および図３の様に、車両３に設置された撮像装置５によりその車両周辺を撮像すると、その撮像画像ＧＡは、図４の様な視点からの撮像画像となる。従来の車両周辺視認装置では、その様な視点からの撮像画像ＧＡの全体を、例えば図１０の様に、所定の一の仮想視点（例えば真上）から撮像した様に見える俯瞰画像Ｈ’に視点変換して表示装置に表示している。 For example, as shown in FIGS. 2 and 3, when the periphery of the vehicle is imaged by the imaging device 5 installed in the vehicle 3, the captured image GA becomes a captured image from the viewpoint as shown in FIG. In the conventional vehicle periphery visual recognition device, the entire captured image GA from such a viewpoint is converted into an overhead image H ′ that appears to be captured from a predetermined virtual viewpoint (for example, directly above) as shown in FIG. 10, for example. The viewpoint is converted and displayed on the display device.
しかしながら、上述の様に、撮像画像ＧＡの全体が、一の仮想視点から撮像した様に見える俯瞰画像Ｈ’に視点変換されると、図４に示される撮像画像ＧＡ上の遠方の映る部分「Ｃ」は、図７に示される俯瞰画像Ｈ’の部分「Ｃ」の様にかなり大きく拡大されて変換されるので、俯瞰画像Ｈ’の部分「Ｃ」では、その画質がかなり粗くなると共にそこに映る立体物に大きな歪みが生じて、その部分「Ｃ」の画質が劣化するという欠点がある。 However, as described above, when the viewpoint of the entire captured image GA is converted to an overhead image H ′ that appears to be captured from one virtual viewpoint, a distant portion of the captured image GA shown in FIG. Since “C” is considerably enlarged and converted like the portion “C” of the overhead image H ′ shown in FIG. 7, the image quality of the portion “C” of the overhead image H ′ becomes considerably coarse and there. There is a drawback in that a large amount of distortion is generated in the three-dimensional object shown in FIG.
そこで、この発明の課題は、俯瞰画像の各部分（例えば遠方の映る部分）において画質の粗化や立体物部分の歪みによる画質の劣化を防止して撮像画像を俯瞰画像に視点変換できる車両周辺視認装置を提供することにある。 Accordingly, an object of the present invention is to provide a vehicle periphery that can convert a captured image into a bird's-eye view by preventing image quality deterioration due to coarse image quality and distortion of a three-dimensional object portion in each portion of the bird's-eye view image (for example, a portion that is far away). To provide a visual recognition device.
上記課題を解決する為に、請求項１に記載の発明は、車両に設置されてその車両周辺を撮像する撮像手段と、前記撮像手段の撮像画像を所定の仮想視点から撮像した様に見える俯瞰画像に視点変換する画像処理手段と、前記車両に設置されて前記画像処理手段から得られる前記俯瞰画像を表示する表示手段とを備えた車両周辺視認装置であって、前記画像処理手段は、前記撮像画像の各部分によって前記仮想視点または前記仮想視点からの俯角を変化させる様にして前記撮像画像を俯瞰画像に視点変換するものである。 In order to solve the above-mentioned problems, the invention according to claim 1 is an imaging device that is installed in a vehicle and images the periphery of the vehicle, and a bird's-eye view that seems to be captured from a predetermined virtual viewpoint. An image processing means for converting a viewpoint into an image, and a display device for displaying the overhead image obtained from the image processing means installed in the vehicle, the vehicle periphery visual recognition device, wherein the image processing means The captured image is converted into a bird's-eye view image by changing the virtual viewpoint or the depression angle from the virtual viewpoint according to each part of the captured image.
請求項２に記載の発明は、前記画像処理手段は、前記撮像画像のうち、その下側部分については、真上から撮像した様に見える部分俯瞰画像に視点変換し、その上側部分については、水平に近い方向から撮像した様に見える部分俯瞰画像に視点変換するのである。 In the invention according to claim 2, the image processing means converts the viewpoint of the lower part of the captured image into a partial overhead image that appears to be captured from directly above, and the upper part thereof, The viewpoint is converted into a partial overhead view image that appears to be captured from a direction close to the horizontal.
請求項３に記載の発明は、前記画像処理手段は、前記撮像画像の下側部分から上側部分に行くに連れて、それら各部分がそれぞれ、徐々に俯角の小さくなる仮想視点から撮像された様に見える部分俯瞰画像に視点変換される様にして、前記撮像画像を俯瞰画像に視点変換するものである。 According to a third aspect of the present invention, the image processing unit seems to have each imaged from a virtual viewpoint in which the depression angle gradually decreases as it goes from the lower part to the upper part of the captured image. The viewpoint of the captured image is converted into a bird's-eye view image in such a manner that the viewpoint is converted into a partial overhead view image that can be seen.
請求項４に記載の発明は、前記画像処理手段は、前記撮像画像の下側部分から上側部分に行くに連れて、それら各部分がそれぞれ、略連続的に俯角の小さくなる仮想視点から撮像された様に見える部分俯瞰画像に視点変換される様にして、前記撮像画像を俯瞰画像に視点変換するものである。 According to a fourth aspect of the present invention, as the image processing means goes from the lower part of the picked-up image to the upper part, each of the parts is picked up from a virtual viewpoint where the depression angle decreases substantially continuously. The viewpoint of the captured image is converted into a bird's-eye view image in such a manner that the viewpoint is converted into a partial bird's-eye view image that looks like a picture.
請求項５に記載の発明は、前記画像処理手段は、前記撮像画像の下側部分から上側部分に行くに連れて、それら各部分がそれぞれ、階段状に俯角の小さくなる仮想視点から撮像された様に見える部分俯瞰画像に視点変換される様にして、前記撮像画像を俯瞰画像に視点変換するものである。 In the invention according to claim 5, as the image processing means goes from the lower part of the captured image to the upper part, each of the parts is imaged from a virtual viewpoint where the depression angle decreases stepwise. The viewpoint of the captured image is converted to a bird's-eye view image in such a manner that the viewpoint is converted to a partially overhead image that looks like the above.
請求項６に記載の発明は、前記画像処理手段は、前記撮像画像を上下に並ぶ複数の横貫部分に区分し、それら各横貫部分毎に視点変換するものである。 According to a sixth aspect of the present invention, the image processing means divides the captured image into a plurality of laterally penetrating portions arranged vertically, and performs viewpoint conversion for each laterally penetrating portion.
請求項７に記載の発明は、前記画像処理手段は、前記撮像画像のうちの視点変換した部分と視点変換していない部分とが連続的に繋がる様に、前記撮像画像を部分的に視点変換するものである。 According to a seventh aspect of the invention, the image processing means partially converts the viewpoint of the captured image so that a portion of the captured image that has undergone viewpoint conversion and a portion that has not undergone viewpoint conversion are continuously connected. To do.
請求項１に記載の発明によれば、撮像画像の各部分によって仮想視点または仮想視点からの俯角を変化させる様にして撮像画像が俯瞰画像に視点変換されるので、即ち従来の様に撮像画像の全体が一の仮想視点からの俯瞰画像に視点変換されないので、俯瞰画像の各部分において、画質の粗化や立体物部分の歪みによる画質の劣化が生じるを防止できる。 According to the first aspect of the present invention, the viewpoint of the captured image is converted into the overhead image by changing the virtual viewpoint or the depression angle from the virtual viewpoint according to each part of the captured image, that is, the captured image as in the conventional case. Is not converted into a bird's-eye view image from a single virtual viewpoint, so that it is possible to prevent image quality deterioration due to roughening of image quality or distortion of a three-dimensional object portion in each portion of the bird's-eye view image.
請求項２に記載の発明によれば、撮像画像の下側部分については、真上から撮像した様に見える部分俯瞰画像に視点変換されるので、車両とその車両近傍の障害物との距離感を把握し易くできる。また、撮像画像の上側部分については、水平に近い方向から撮像した様に見える部分俯瞰画像に視点変換されるので、大きく拡大されることを防止できて画素の粗化や立体物部分の歪みによる画質の劣化を防止できる。 According to the second aspect of the present invention, the lower part of the captured image is subjected to viewpoint conversion to a partial overhead image that appears to be captured from directly above, so that the sense of distance between the vehicle and the obstacle in the vicinity of the vehicle Can be easily grasped. In addition, the upper part of the captured image is converted into a partial overhead image that appears to be captured from a direction close to the horizontal, so that it can be prevented from being greatly enlarged, resulting in pixel roughening and distortion of the three-dimensional object part. Degradation of image quality can be prevented.
請求項３に記載の発明によれば、撮像画像の下側部分から上側部分に行くに連れて、それら各部分がそれぞれ、徐々に俯角の小さくなる仮想視点から撮像された様に見える部分俯瞰画像に視点変換される様にして、撮像画像が俯瞰画像に視点変換されるので、その俯瞰画像の下側部分と上側部分とを、仮想視点の変化や俯角の変化による歪みを緩和させてつなぎ合わせる事ができる。 According to the third aspect of the present invention, the partial overhead view image that appears to have been captured from the virtual viewpoint in which each of the portions gradually decreases as the captured image goes from the lower portion to the upper portion. As the captured image is converted into a bird's-eye view image, the lower part and the upper part of the bird's-eye view image are joined by reducing the distortion caused by the change of the virtual viewpoint and the change of the depression angle. I can do things.
請求項４に記載の発明によれば、撮像画像の下側部分から上側部分に行くに連れて、それら各部分がそれぞれ、略連続的に俯角の小さくなる仮想視点から撮像された様に見える部分俯瞰画像に視点変換される様にして、撮像画像が俯瞰画像に視点変換されるので、その俯瞰画像の下側部分と上側部分とを滑らかに（即ち角角しさを無くして）つなぎ合わせる事ができる。 According to the fourth aspect of the present invention, as the captured image goes from the lower part to the upper part, each part appears to be captured from a virtual viewpoint where the depression angle decreases substantially continuously. Since the viewpoint of the captured image is converted to a bird's-eye view so that the viewpoint is converted to a bird's-eye view image, the lower portion and the upper portion of the bird's-eye view image can be smoothly connected (that is, without angularity). it can.
請求項５に記載の発明によれば、撮像画像の下側部分から上側部分に行くに連れて、それら各部分がそれぞれ、階段状に俯角の小さくなる仮想視点から撮像された様に見える部分俯瞰画像に視点変換される様にして、撮像画像が俯瞰画像に視点変換されるので、撮像画像上の斜めに延びる直線部分を俯瞰画像上で折れ線状に映せ（即ち、曲線化して映ることを防止でき）、俯瞰画像上で当該部分が直線なのか曲線なのか適切に判断できる。 According to the fifth aspect of the present invention, the partial overhead view that seems to be captured from a virtual viewpoint where the depression angle decreases in a staircase shape from the lower part to the upper part of the captured image. Since the viewpoint of the captured image is converted to an overhead image as if the viewpoint is converted to an image, the diagonally extending straight line portion on the captured image is shown as a broken line on the overhead image (that is, it is prevented from being curved) Yes, it is possible to appropriately determine whether the part is a straight line or a curve on the overhead image.
請求項６に記載の発明によれば、撮像画像を上下に並ぶ複数の横貫部分に区分し、それら各横貫部分毎に視点変換するので、横方向の歪みを無くして視認性の良い俯瞰画像を提供できる。 According to the sixth aspect of the present invention, since the captured image is divided into a plurality of transverse parts arranged vertically, and the viewpoint is converted for each of the transverse parts, a bird's-eye view image with good visibility without horizontal distortion is obtained. Can be provided.
請求項７に記載の発明によれば、撮像画像のうちの視点変換した部分（俯瞰画像部分）と視点変換していない部分（実写画像部分）とが連続的に繋がる様に、撮像画像が部分的に視点変換されるので、実写画像部分と俯瞰画像部分とを組み合わせた視認性の良い俯瞰画像に視点変換できる。 According to the seventh aspect of the present invention, the captured image is a partial image so that the viewpoint-converted portion (overhead image portion) of the captured image is continuously connected to the portion that has not been viewpoint-converted (actual image portion). Therefore, the viewpoint can be converted into a bird's-eye view image with good visibility by combining the live-action image portion and the bird's-eye view image portion.
＜実施の形態＞
この実施の形態に係る車両周辺視認装置１は、図１〜図３の様に、車両３の端部（ここでは後端部中央）に設置されてその車両周辺（ここでは車両後方）を撮像する撮像装置（撮像手段）５と、撮像装置５の撮像画像を所定の仮想視点から撮像した様に見える俯瞰画像に視点変換する画像処理装置（画像処理手段）７と、車両３に設置され画像処理装置７から得られる前記俯瞰画像を表示する表示装置（表示手段）９と、それら各構成要素５，７，９を車両３の車両信号に基づいて制御する制御装置１１とを備える。
<Embodiment>
As shown in FIGS. 1 to 3, the vehicle periphery visual recognition device 1 according to this embodiment is installed at an end of the vehicle 3 (here, the center of the rear end) and images the periphery of the vehicle (here, the rear of the vehicle). An image pickup device (image pickup means) 5, an image processing device (image processing means) 7 for converting the viewpoint of the image picked up by the image pickup device 5 into an overhead image that appears to be picked up from a predetermined virtual viewpoint, and an image installed in the vehicle 3. A display device (display means) 9 that displays the bird's-eye view image obtained from the processing device 7 and a control device 11 that controls each of the components 5, 7, 9 based on the vehicle signal of the vehicle 3 are provided.
撮像装置５は、例えば単眼の撮像装置として構成され、図２および図３の様に、その撮像方向Ｐが車両後方の斜め下方向に向けられて車両後方の路面Ｄが映る様に設置される。この設置状態により、撮像装置５の撮像画像ＧＡは、例えば図４の様に、その下側部分Ｇａに車両３の近傍「Ａ」が映り、その上側部分Ｇｃに車両３の遠方「Ｃ」が映り、それら各部分Ｇａ，Ｇｃの間の部分（中間部分）Ｇｂに近傍「Ａ」と遠方「Ｃ」の間の部分（中間部分）「Ｂ」が映る画像となる。 The imaging device 5 is configured as a monocular imaging device, for example, and is installed so that the imaging direction P is directed obliquely downward to the rear of the vehicle and the road surface D behind the vehicle is reflected, as shown in FIGS. . Due to this installation state, the captured image GA of the imaging device 5 shows the vicinity “A” of the vehicle 3 in the lower part Ga and the far part “C” of the vehicle 3 in the upper part Gc, as shown in FIG. An image in which a portion (intermediate portion) “B” between the vicinity “A” and the distant “C” is reflected in a portion (intermediate portion) Gb between the respective portions Ga and Gc.
尚、ここでは、撮像画像ＧＡの下側部分Ｇａは、例えば撮像画像ＧＡの略下半部分を占め、撮像画像ＧＡの上側部分Ｇａは、例えば撮像画像ＧＡの略上半部分の略上半部分を占めているが、その様に限定されるものではない。 Here, the lower portion Ga of the captured image GA occupies, for example, a substantially lower half portion of the captured image GA, and the upper portion Ga of the captured image GA is, for example, a substantially upper half portion of the approximately upper half portion of the captured image GA. However, it is not so limited.
画像処理装置７は、撮像装置５の撮像画像ＧＡの各部分によって仮想視点または仮想視点からの俯角を変化させる様にして、撮像画像ＧＡを所定の仮想視点から撮像した様に見える俯瞰画像ＨＡ（図５参照）に視点変換する。この画像処理装置７は、例えば図１の様に、撮像画像ＧＡから俯瞰画像ＨＡへの視点変換を規定する変換テーブルを記憶した不揮発性メモリ７ｃと、制御装置１１の制御の下、撮像装置５からの撮像画像ＧＡに対し、画素補間（例えばバイリニア法またはバイキュービック法）等の所要の画像処理を行うと共に不揮発性メモリ７ｃに記憶された前記変換テーブルに従って俯瞰画像ＨＡへの視点変換処理を行い、それらの処理で得られた俯瞰画像ＨＡを表示装置９に出力して表示させる画像処理ＡＳＩＣ７ｃと、画像処理ＡＳＩＣ７ｃによる画像処理および視点変換処理で用いられるフレームメモリ（例えばＳＤＲＡＭ等）７ｅとを備えて構成される。 The image processing device 7 changes the virtual viewpoint or the depression angle from the virtual viewpoint according to each part of the captured image GA of the imaging device 5 so that the overhead image HA ( (See FIG. 5). For example, as shown in FIG. 1, the image processing device 7 includes a non-volatile memory 7 c that stores a conversion table that defines viewpoint conversion from the captured image GA to the overhead image HA, and the imaging device 5 under the control of the control device 11. Is subjected to necessary image processing such as pixel interpolation (for example, bilinear method or bicubic method) and the viewpoint conversion processing to the overhead image HA according to the conversion table stored in the nonvolatile memory 7c. The image processing ASIC 7c that outputs and displays the overhead image HA obtained by these processes on the display device 9 and the frame memory (for example, SDRAM) 7e used in the image processing and viewpoint conversion processing by the image processing ASIC 7c are provided. Configured.
より詳細には、画像処理装置７は、図４の様に、撮像装置５の撮像画像ＧＡを上下に並ぶ複数（例えば３つ）の横貫部分Ｇａ，Ｇｂ，Ｇｃに区分し、それら各横貫部分Ｇａ〜Ｇｃをそれら各横貫部分毎に視点変換する。その際、画像処理装置７は、図４〜図６の様に、撮像画像ＧＡの下側部分Ｇａから上側部分Ｇｃに行くに連れて、それら各部分Ｇａ，Ｇｂ，Ｇｃがそれぞれ、徐々に（ここでは階段状に（換言すれば角度差をつけて段々と））俯角の小さくなる仮想視点（即ち俯角βａ，βｂ，βｃがβａ＞βｂ＞βｃとなる仮想視点）Ｐａ，Ｐｂ，Ｐｃから撮像された様に見える部分俯瞰画像Ｈａ，Ｈｂ，Ｈｃに視点変換される様に、撮像画像ＧＡを俯瞰画像ＨＡに視点変換する。 More specifically, as shown in FIG. 4, the image processing device 7 divides the captured image GA of the imaging device 5 into a plurality of (for example, three) transverse portions Ga, Gb, and Gc arranged vertically, and each of these transverse portions. The viewpoints of Ga to Gc are converted for each of the transverse portions. At that time, as shown in FIGS. 4 to 6, the image processing device 7 gradually increases each of the portions Ga, Gb, and Gc from the lower portion Ga to the upper portion Gc of the captured image GA. Here, in a step-like manner (in other words, gradually with an angle difference), the virtual viewpoints where the depression angles become smaller (that is, the virtual viewpoints where depression angles βa, βb, βc satisfy βa> βb> βc) are taken from Pa, Pb, Pc. The captured image GA is converted into a bird's-eye view HA so that the viewpoint is converted into partial bird's-eye images Ha, Hb, and Hc that look like the above.
ここでは、図４〜図６の様に、撮像画像ＧＡの下側部分（車両３の近傍「Ａ」の映る部分）Ｇａは、車両３の当該近傍「Ａ」の真上に設定された仮想視点（即ちその俯角βａが直角である仮想視点）Ｐａから当該近傍「Ａ」を撮像した様に見える部分俯瞰画像Ｈａに視点変換されて、俯瞰画像ＨＡの下側部分（ここでは俯瞰画像ＨＡの略下半部分）に映される。 Here, as shown in FIGS. 4 to 6, the lower part of the captured image GA (the part where the vicinity “A” of the vehicle 3 is shown) Ga is a virtual set immediately above the vicinity “A” of the vehicle 3. The viewpoint is converted from a viewpoint (that is, a virtual viewpoint whose angle of depression βa is a right angle) Pa to a partial overhead image Ha that appears to have captured the vicinity “A”, and a lower part of the overhead image HA (here, the overhead image HA) It is reflected in the lower half).
また、撮像画像ＧＡの上側部分（車両３の遠方「Ｃ」の映る部分）Ｇｃは、例えば撮像装置５の設置位置と略同じ高さに設定された仮想視点Ｐｃから当該遠方「Ｃ」を撮像した様に（即ちその俯角βｃが比較的小さい仮想視点（換言すれば水平に近い方向からの仮想視点）Ｐｃから撮像した様に）見える部分俯瞰画像Ｈｃに視点変換されて、俯瞰画像ＨＡの上側部分（ここでは俯瞰画像の略上半部分の略上側部分）に映される。 Further, the upper portion Gc (portion where the distant “C” of the vehicle 3 is reflected) Gc of the captured image GA is captured, for example, from the virtual viewpoint Pc set at substantially the same height as the installation position of the imaging device 5. The viewpoint is converted into a partial overhead image Hc that is visible from the virtual viewpoint Pc having a relatively small depression angle βc (in other words, as viewed from a virtual viewpoint from a horizontal direction in other words), and the upper side of the overhead image HA. It is displayed in a portion (here, a substantially upper portion of a substantially upper half portion of the overhead image).
また、撮像画像ＧＡの中間部分（車両３から近からず遠からず離れた中間部分「Ｂ」の映る部分）Ｇｂは、その俯角βｂが各俯角βａ，βｃの中間の大きさ角になる様に設定された仮想視点から当該中間部分「Ｂ」を撮像した様に見える部分俯瞰画像Ｈｂに視点変換されて、俯瞰画像ＨＡの中間部分（俯瞰画像の各部分の間の部分）に映される。 Further, an intermediate part Gb of the captured image GA (a part where the intermediate part “B” that is not close to or far from the vehicle 3 is shown) Gb has a depression angle βb that is an intermediate size angle between the depression angles βa and βc. From the set virtual viewpoint, the viewpoint is converted to a partial overhead view image Hb that looks as if the intermediate portion “B” has been imaged, and is reflected in the intermediate portion of the overhead view image HA (the portion between each portion of the overhead image).
尚、各仮想視点Ｐａ，Ｐｂ，Ｐｃおよび各俯角βａ，βｂ，βｃは、俯瞰画像ＨＡの各部分Ｈａ，Ｈｂ，Ｈｃの境界部分において、それら各部分Ｈａ，Ｈｂ，Ｈｃの横方向（水平方向）の位置（例えば各線分ｈａ，ｈｂ，ｈｃ）が連続して繋がる様に調整されて設定される。 Note that the virtual viewpoints Pa, Pb, Pc and the depression angles βa, βb, βc are the horizontal directions (horizontal directions) of the portions Ha, Hb, Hc at the boundary portions of the portions Ha, Hb, Hc of the overhead image HA. ) (For example, each line segment ha, hb, hc) is adjusted and set so as to be continuously connected.
尚、ここでは、俯瞰画像ＨＡの下側部分（真上からの仮想視点Ｐａからの部分俯瞰画像（車両近傍）の映る部分）Ｈａは、俯瞰画像ＨＡの略下半部分を占め、俯瞰画像ＨＡの上側部分（比較的俯角の小さい仮想視点Ｐｃからの部分俯瞰画像（車両遠方）の映る部分）Ｈｃは、俯瞰画像ＨＡの略上半部分の略上半部分を占めているが、その様に限定されるものではない。 Here, the lower portion of the overhead image HA (the portion where the partial overhead image (near the vehicle) from the virtual viewpoint Pa from directly above) Ha occupies the substantially lower half of the overhead image HA, and the overhead image HA The upper portion (the portion in which the partial overhead view image (the vehicle is far away) from the virtual viewpoint Pc having a relatively small depression angle) occupies the substantially upper half portion of the substantially upper half portion of the overhead view image HA. It is not limited.
かかる俯瞰画像ＨＡでは、その下側部分（車両近傍の映る部分）Ｈａが、真上からの仮想視点Ｐａから撮像された様に見える部分俯瞰画像であることにより、その下側部分Ｈａにより車両３とその車両近傍の障害物との距離感が容易に把握され、また、その上側部分（車両遠方の映る部分）Ｈｃが、比較的俯角の小さい仮想視点Ｐｃから撮像された様に見える部分俯瞰画像であることにより、その上側部分Ｈｃが大きく拡大される事が防止されて、即ちその上側部分Ｈｃの画質の劣化（画像の粗化および立体物部分の歪み）が防止されて、遠方の視認性が良好に確保されている。 In such a bird's-eye view image HA, the lower portion Ha (portion in the vicinity of the vehicle) Ha is a partial bird's-eye view image that appears to be captured from the virtual viewpoint Pa from directly above. And a sense of distance between the vehicle and an obstacle in the vicinity of the vehicle, and a partial overhead view image in which the upper portion (portion far away from the vehicle) Hc appears to be captured from a virtual viewpoint Pc having a relatively small depression angle Therefore, the upper portion Hc is prevented from being greatly enlarged, that is, the image quality of the upper portion Hc is prevented from being deteriorated (roughening of the image and distortion of the three-dimensional object portion), so that the visibility in the distance is reduced. Is well secured.
そして、かかる俯瞰画像ＨＡでは、その各部分Ｈａ，Ｈｂ，Ｈｃが、その下側部分Ｈａから上側部分Ｈｃに行くに連れて階段状に俯角の小さくなる仮想視点Ｐａ，Ｐｂ，Ｐｃから撮像された様に見える部分俯瞰画像であることにより、上側部分Ｈｃと下側部分Ｈａとが、角角した感じでつなぎ合わされて撮像画像ＧＡ上の斜めに延びる直線部分が曲線化させずに（折れ線状に）俯瞰画像ＨＡ上に映されて、俯瞰画像ＨＡ上で当該部分が直線なのか曲線なのか判断し易くなっている。 In such a bird's-eye view image HA, each part Ha, Hb, Hc is imaged from the virtual viewpoints Pa, Pb, Pc where the depression angle decreases stepwise from the lower part Ha to the upper part Hc. Since the upper portion Hc and the lower portion Ha are joined together with an angled feeling, the linear portion extending obliquely on the captured image GA is not curved (in a broken line shape). ) It is displayed on the bird's-eye view image HA, and it is easy to determine whether the part is a straight line or a curve on the bird's-eye view image HA.
即ち、ここでは、撮像画像ＧＡの区分数および隣り合う俯角βａ，βｂ，βｃ間の角度差は、撮像画像ＧＡ上の斜めに延びる直線部分が俯瞰画像ＨＡ上で折れ線状に（曲線化しないで）映る様に適宜に決められる。この点を考慮して、ここでは、撮像画像ＧＡの区分数を３つとし、そして俯角βａを直角とし、俯角βｃを比較的小さい角度とし、俯角βｃを各俯角βａ，βｃの中間の角度としたが、この様に限定されるものではない。 That is, here, the number of sections of the captured image GA and the angle difference between adjacent depression angles βa, βb, and βc are such that the diagonally extending straight line portion on the captured image GA is a broken line (not curved) on the overhead image HA. ) It is decided appropriately so that it may appear. Considering this point, here, the number of sections of the captured image GA is three, the depression angle βa is a right angle, the depression angle βc is a relatively small angle, and the depression angle βc is an intermediate angle between the depression angles βa and βc. However, it is not limited to this.
制御装置１１は、車両３の車両信号に基づいて各構成要素５，７，９を作動・停止させることにより、車両３の車両状態に応じて、撮像装置５の撮像画像ＧＡを画像処理装置７により俯瞰画像ＨＡに視点変換させて表示装置９に表示させる。ここでは、制御装置１１は、例えばシフトポジション信号に基づいて車両３の後退時であるか否かを検出し、車両３の後退時であることを検出すると、各構成要素５，７，９を作動させて、撮像装置５の撮像画像ＧＡを画像処理装置７により俯瞰画像ＨＡに視点変換させて表示装置９に表示させる。 The control device 11 activates / stops each of the components 5, 7, and 9 based on the vehicle signal of the vehicle 3, so that the captured image GA of the imaging device 5 is converted into the image processing device 7 according to the vehicle state of the vehicle 3. Thus, the viewpoint is converted to the overhead image HA and displayed on the display device 9. Here, the control device 11 detects, for example, whether or not the vehicle 3 is moving backward based on the shift position signal, and when detecting that the vehicle 3 is moving backward, By operating, the captured image GA of the imaging device 5 is converted into a bird's-eye view HA by the image processing device 7 and displayed on the display device 9.
以上の様に構成された車両周辺視認装置１によれば、撮像画像ＧＡの各部分Ｇａ，Ｇｂ，Ｇｃによって仮想視点または仮想視点からの俯角を変化させる様にして撮像画像ＧＡが俯瞰画像ＨＡに視点変換されるので、即ち従来の様に撮像画像ＧＡの全体が一の仮想視点からの俯瞰画像Ｈ’に視点変換されないので、俯瞰画像ＨＡの各部分Ｈａ，Ｈｂ，Ｈｃにおいて画質の粗化や立体物部分の歪みによる画質の劣化が生じるこを防止できる。 According to the vehicle periphery visual recognition device 1 configured as described above, the captured image GA is changed to the overhead image HA so that the virtual viewpoint or the depression angle from the virtual viewpoint is changed by the portions Ga, Gb, and Gc of the captured image GA. Since the viewpoint is converted, that is, since the entire captured image GA is not converted into the overhead image H ′ from one virtual viewpoint as in the conventional case, the image quality is roughened in each portion Ha, Hb, Hc of the overhead image HA. It is possible to prevent image quality deterioration due to distortion of the three-dimensional object portion.
また、撮像画像ＧＡの下側部分（車両近傍の映る部分）Ｇａについては、真上から撮像した様に見える部分俯瞰画像Ｈａに視点変換されるので、車両３とその車両近傍の障害物との間の距離感を把握し易くできる。また、撮像画像ＧＡの上側部分（車両遠方の映る部分）Ｇｃについては、水平に近い方向から撮像した様に見える部分俯瞰画像Ｈｃに視点変換されるので、大きく拡大されることを防止できて画素の粗化や立体物部分の歪みによる画質の劣化を防止できる。 Further, the lower portion of the captured image GA (portion in the vicinity of the vehicle) Ga is converted into a partial overhead image Ha that appears to be captured from directly above, so the vehicle 3 and the obstacles in the vicinity of the vehicle It is easy to grasp the sense of distance between them. In addition, the upper portion (portion far away from the vehicle) Gc of the captured image GA is subjected to viewpoint conversion to a partial overhead image Hc that appears to be captured from a direction close to the horizontal, so that the pixel can be prevented from being greatly enlarged. Image quality deterioration due to roughening or distortion of the three-dimensional object portion can be prevented.
また、撮像画像ＧＡの下側部分Ｇａから上側部分Ｇｃに行くに連れて、それら各部分Ｇａ，Ｇｂ，Ｇｃが、徐々に俯角の小さくなる仮想視点Ｐａ，Ｐｂ，Ｐｃから撮像された様に見える部分俯瞰画像Ｈａ，Ｈｂ，Ｈｃに視点変換される様に、撮像画像ＧＡが俯瞰画像ＨＡに視点変換されるので、その俯瞰画像ＨＡの下側部分Ｈａと上側部分Ｈｃとを、仮想視点の変化や俯角の変化による歪みを緩和させてつなぎ合わせる事ができる。 Further, as the captured image GA moves from the lower part Ga to the upper part Gc, the parts Ga, Gb, and Gc appear to be captured from the virtual viewpoints Pa, Pb, and Pc with gradually decreasing depression angles. Since the viewpoint of the captured image GA is converted to the overhead image HA so that the viewpoint is converted to the partial overhead images Ha, Hb, and Hc, the virtual viewpoint changes between the lower part Ha and the upper part Hc of the overhead image HA. It can be connected by relaxing the distortion caused by the change of the angle and depression.
より詳細には、ここでは、撮像画像ＧＡの下側部分Ｇａから上側部分Ｇｃに行くに連れて、それら各部分Ｇａ，Ｇｂ，Ｇｃが、段差状に俯角の小さくなる仮想視点Ｐａ，Ｐｂ，Ｐｃから撮像された様に見える部分俯瞰画像Ｈａ，Ｈｂ，Ｈｃに視点変換される様に、撮像画像ＧＡが俯瞰画像ＨＡに視点変換されるので、撮像画像ＧＡ上の斜め延びる直線部分を俯瞰画像ＨＡ上で折れ線状に映せ（即ち、曲線化して映ることを防止でき）、俯瞰画像ＨＡ上で当該部分が直線なのか曲線なのか適切に判断できる。 More specifically, here, the virtual viewpoints Pa, Pb, Pc in which each of the parts Ga, Gb, Gc has a stepped shape with a depression angle that decreases from the lower part Ga to the upper part Gc of the captured image GA. Since the viewpoint of the captured image GA is converted to the overhead image HA so that the viewpoint is converted to the partial overhead images Ha, Hb, and Hc that appear to be captured from above, the obliquely extending straight line portion on the captured image GA is represented by the overhead image HA. It can be projected in a polygonal line shape (that is, it can be prevented from being curved), and it can be appropriately determined whether the part is a straight line or a curve on the overhead image HA.
また、撮像画像ＧＡを横縞状に複数の部分Ｇａ，Ｇｂ，Ｇｃに区分し、それら各部分毎に視点変換するので、横方向の歪みを無くして視認性の良い俯瞰画像ＨＡを提供できる。 In addition, since the captured image GA is divided into a plurality of portions Ga, Gb, and Gc in a horizontal stripe shape and the viewpoint is converted for each of these portions, a bird's-eye view image HA with high visibility can be provided without distortion in the horizontal direction.
＜変形例１＞
上記の実施の形態では、撮像画像ＧＡの各部分Ｇａ，Ｇｂ，Ｇｃの全てが視点変換される場合で説明したが、撮像画像ＧＡのうちの視点変換した部分と視点変換していない部分とが連続的に繋がる様に、撮像画像ＧＡを部分的に視点変換してもよい。例えば、図４および図５を参照して、俯瞰画像ＨＡの上側部分Ｈｃは、撮像画像ＧＡの上側部分Ｇｃとほぼ同じ視点および俯角の画像なので、画像処理装置７において、俯瞰画像ＨＡの上側部分Ｈｃの画像として、撮像画像ＧＡの上側部分Ｇｃの実写画像をそのまま使用させてもよい。
<Modification 1>
In the above embodiment, the case where all of the portions Ga, Gb, and Gc of the captured image GA are subjected to viewpoint conversion has been described. However, the portion of the captured image GA that has undergone viewpoint conversion and the portion that has not undergone viewpoint conversion have been described. The captured image GA may be partially subjected to viewpoint conversion so as to be continuously connected. For example, referring to FIG. 4 and FIG. 5, the upper portion Hc of the overhead image HA has substantially the same viewpoint and depression angle as the upper portion Gc of the captured image GA. As the Hc image, the actual image of the upper portion Gc of the captured image GA may be used as it is.
この様にすれば、撮像画像ＧＡのうちの視点変換した部分（俯瞰画像部分Ｈａ，Ｈｂ）と視点変換していない部分（実写画像部分Ｈｃ）とが連続的に繋がる様に撮像画像ＧＡが部分的に視点変換されるので、俯瞰画像部分Ｈａ，Ｈｂと実写画像部分Ｈｃとが組み合わされた視認性の良い俯瞰画像ＨＢに視点変換できる。 In this way, the captured image GA is partly connected so that the viewpoint-converted portions (overhead image portions Ha and Hb) of the captured image GA and the portions that have not undergone viewpoint conversion (actually captured image portions Hc) are continuously connected. Thus, the viewpoint can be converted into a bird's eye view image HB with good visibility in which the bird's-eye view image portions Ha and Hb and the photographed image portion Hc are combined.
＜変形例２＞
上記の実施の形態では、撮像画像ＧＡの下側部分Ｇａから上側部分Ｇｃに行くに連れて、それら各部分Ｇａ，Ｇｂ，Ｇｃが、階段状に俯角の小さくなる仮想視点から撮像された様に見える部分俯瞰画像に視点変換されたが、この変形例では、図７および図８の様に、撮像画像ＧＢの下側部分Ｇ１から上側部分Ｇｎに行くに連れて、それら各部分Ｇ１〜Ｇｎが、略連続的に俯角の小さくなる仮想視点から撮像された様に見える部分俯瞰画像Ｈ１〜Ｈｎに視点変換される。
<Modification 2>
In the embodiment described above, as each of the parts Ga, Gb, and Gc is captured from a virtual viewpoint where the depression angle decreases in a stepped manner from the lower part Ga to the upper part Gc of the captured image GA. Although the viewpoint is converted to a visible partial overhead image, in this modification, as shown in FIGS. 7 and 8, each of the parts G1 to Gn is moved from the lower part G1 to the upper part Gn of the captured image GB. The viewpoint is converted into partial overhead images H1 to Hn that appear to be captured from a virtual viewpoint in which the depression angle decreases substantially continuously.
より詳細には、画像処理部７により、撮像装置５の撮像画像ＧＢが、例えば図７の様に上下に並ぶ複数の横貫部分Ｇ１，Ｇ２，…，Ｇｎに区分され、それら各横貫部分Ｇ１〜Ｇｎがそれら各横貫部分毎に視点変換される。その際、画像処理部７により、図７〜図９の様に、撮像画像ＧＢの下側部分Ｇ１から上側部分Ｇｎに行くに連れて、それら各部分Ｇ１〜Ｇｎが、略連続的（小刻み）に俯角の小さくなる仮想視点（即ち俯角β１，β２，…，βｎがβ１＞β２＞，…，＞βｎとなる仮想視点）Ｐ１，Ｐ２，…，Ｐｎから撮像された様に見える部分俯瞰画像ＨＡ，Ｈ２，…，Ｈｎに視点変換される様に、撮像画像ＧＢが俯瞰画像ＨＣに視点変換される。 More specifically, the image processing unit 7 divides the captured image GB of the imaging device 5 into a plurality of transverse portions G1, G2,..., Gn arranged vertically as shown in FIG. The viewpoint of Gn is converted for each of the transverse portions. At that time, as shown in FIGS. 7 to 9, the image processing unit 7 makes the respective parts G1 to Gn substantially continuous (in small increments) from the lower part G1 to the upper part Gn of the captured image GB. , A virtual viewpoint with a small depression angle (that is, a virtual viewpoint in which depression angles β1, β2,..., Βn are β1> β2>,...,> Βn) P1, P2,. , H2,..., Hn, the captured image GB is converted to the overhead image HC.
その際、撮像画像ＧＢの下側部分（車両近傍の映る部分）Ｇ１は、車両３の当該近傍の真上に設定された仮想視点（即ちその俯角β１が直角である仮想視点）Ｐ１から当該近傍を撮像した様に見える部分俯瞰画像ＨＡに視点変換されて、俯瞰画像ＨＣの下側部分に映される。 At that time, the lower part (the part in the vicinity of the vehicle) G1 of the captured image GB is in the vicinity from the virtual viewpoint P1 (that is, the virtual viewpoint whose depression angle β1 is a right angle) set just above the vicinity of the vehicle 3. The viewpoint is converted into a partial overhead image HA that appears to be captured, and is displayed in the lower part of the overhead image HC.
また、撮像画像ＧＢの上側部分（車両遠方の映る部分）Ｇｎは、水平に近い方向からの仮想視点（即ちその俯角βｎが比較的小さい仮想視点）Ｐｎから当該遠方を撮像した様に見える部分俯瞰画像Ｈｎに視点変換されて、俯瞰画像ＨＣの上側部分に映される。 Further, the upper portion (portion where the vehicle is far away) Gn of the captured image GB is a partial overhead view that looks as if the far distance is imaged from a virtual viewpoint (that is, a virtual viewpoint with a relatively small depression angle βn) Pn from a horizontal direction. The viewpoint is converted to the image Hn and is displayed on the upper portion of the overhead image HC.
尚、図７および図８では、各部分Ｇ２〜Ｇｎの幅および各部分Ｈ２〜Ｈｎの幅は、見やすい様に大きめに表記されている。また、図９中の範囲「Ｇ１」，「Ｇ２」等はそれぞれ、撮像画像ＧＢの各部分Ｇ１，Ｇ２等に映る範囲を示している。 In FIGS. 7 and 8, the widths of the portions G2 to Gn and the widths of the portions H2 to Hn are shown larger for easy viewing. In addition, ranges “G1”, “G2”, and the like in FIG. 9 indicate ranges that appear in the portions G1, G2, etc. of the captured image GB, respectively.
尚、各仮想視点Ｐ１〜Ｐｎおよび各俯角β１〜βｎは、俯瞰画像ＨＣの各部分Ｈ１〜Ｈｎの境界部分において、それら各部分Ｈ１〜Ｈｎの横方向（水平方向）の位置が連続して繋がる様に調整されて設定される。 The virtual viewpoints P1 to Pn and the depression angles β1 to βn are continuously connected in the horizontal (horizontal) positions of the respective portions H1 to Hn at the boundary portions of the respective portions H1 to Hn of the overhead image HC. Adjusted and set in the same way.
尚、ここでは、撮像画像ＧＢの下側部分（車両近傍の映る部分）Ｇ１は、撮像画像ＧＢの略下側３分の２部分を占め、撮像画像の各部分Ｇ２〜Ｇｎはそれぞれ、撮像画像ＧＢの残りの略上側３分の１部分をｎ−１等分したうちの１つを大凡占めるが、その様に限定されるものではない。また、俯瞰画像ＨＣの下側部分（車両近傍の映る部分）Ｈ１は、俯瞰画像ＨＣの略下半部分を占め、俯瞰画像ＨＣの各部分Ｈ２〜Ｈｎはそれぞれ、俯瞰画像ＨＣの略上半部分をｎ−１等分したうちの１つを大凡占めるが、その様に限定されるものではない。 Here, the lower part (the part in the vicinity of the vehicle) G1 of the captured image GB occupies approximately two thirds of the lower part of the captured image GB, and the parts G2 to Gn of the captured image are respectively captured images. One of the remaining approximately one-third of the remaining upper third of the GB is roughly divided into n-1 parts, but is not limited thereto. Further, the lower portion (portion in the vicinity of the vehicle) H1 of the overhead image HC occupies a substantially lower half portion of the overhead image HC, and the portions H2 to Hn of the overhead image HC are substantially upper half portions of the overhead image HC, respectively. Is roughly divided into n-1 equal parts, but is not limited thereto.
かかる俯瞰画像ＨＣでは、図８の様に、その下側部分（車両近傍の映る部分）Ｈ１が、真上からの仮想視点Ｐ１から撮像された様に見える部分俯瞰画像であることにより、その下側部分Ｈ１により車両３とその車両近傍の障害物との距離感が容易に把握され、また、その上側部分Ｈｎ側が、水平に近い方向からの仮想視点Ｐｎから撮像された様に見える部分俯瞰画像であることにより、その上側部分Ｈｎ側が大きく拡大される事が防止されて、即ちその上側部分Ｈｎ側の画質の劣化（画像の粗化および立体物部分の歪み）が防止されて、遠方の視認性が良好に確保されている。 In such a bird's-eye view image HC, as shown in FIG. 8, the lower portion (portion in the vicinity of the vehicle) H1 is a partial bird's-eye view image that appears to be captured from the virtual viewpoint P1 from directly above. The side portion H1 makes it easy to grasp the distance between the vehicle 3 and an obstacle in the vicinity of the vehicle, and the upper portion Hn side is a partial overhead view image that appears to be taken from a virtual viewpoint Pn from a direction close to the horizontal. Therefore, it is possible to prevent the upper portion Hn side from being greatly enlarged, that is, to prevent deterioration in image quality (roughening of the image and distortion of the three-dimensional object portion) on the upper portion Hn side. Good quality is ensured.
そして、かかる俯瞰画像ＨＣでは、その各部分Ｈ１〜Ｈｎが、その下側部分Ｈ１から上側部分Ｈｎに行くに連れて略連続的に俯角の小さくなる仮想視点Ｐ１〜Ｐｎから撮像された様に見える部分俯瞰画像であることにより、下側部分Ｈ１と上側部分Ｈｎとが滑らかに（違和感無く）つなぎ合わされて、即ち撮像画像ＧＢ上の斜めに延びる直線部分が俯瞰画像ＨＣ上で滑らかに（角角しないで）映されて、俯瞰画像ＨＣの全体が違和感の無い画像になっている。 And in such a bird's-eye view image HC, it seems that each of the portions H1 to Hn is captured from virtual viewpoints P1 to Pn that gradually decrease in depression angle from the lower portion H1 to the upper portion Hn. By being a partial bird's-eye view image, the lower portion H1 and the upper portion Hn are smoothly joined together (without a sense of incongruity), that is, a straight line portion extending obliquely on the captured image GB is smoothly (corner angle) on the bird's-eye view image HC. The whole overhead image HC is an image that does not feel uncomfortable.
即ち、ここでは、撮像画像ＧＢの区分数および隣り合う俯角β１，β２，…，βｎ間の角度差は、俯瞰画像ＨＣの各部分Ｈ１〜Ｈｎが滑らかに繋がる様に適宜に決められる。その際、俯瞰画像ＨＣの各部分Ｈ１〜Ｈｎをより滑らかにつなぎ合わせたい場合（即ち撮像画像ＧＢの各部分Ｇ１〜Ｇｎの各視点変換をより連続的にさせたい場合や俯瞰画像ＨＣの各部分Ｈ２〜Ｈｎの幅をより細くしたい場合）は、区分数ｎをより増やせばよい。俯瞰画像ＨＣの各部分Ｈ２〜Ｈｎの幅としては、例えば数画素ライン幅（例えば１画素ライン幅〜５画素ライン幅）としてもよい。 That is, here, the number of sections of the captured image GB and the angle difference between the adjacent depression angles β1, β2,..., Βn are determined as appropriate so that the portions H1 to Hn of the overhead image HC are smoothly connected. At that time, when it is desired to connect the portions H1 to Hn of the overhead image HC more smoothly (that is, when the viewpoint conversion of the portions G1 to Gn of the captured image GB is desired to be more continuous or each portion of the overhead image HC). If the width of H2 to Hn is desired to be narrower), the number of sections n may be increased. The width of each portion H2 to Hn of the overhead image HC may be, for example, several pixel line width (for example, 1 pixel line width to 5 pixel line width).
以上の様にすれば、上記の実施の形態の場合と同様の効果を得る他、上記の様に俯瞰画像の下側部分と上側部分とを滑らかにつなぎ合わせる事ができる（即ち、撮像画像ＧＢ上の輪郭線等の直線部分を俯瞰画像ＨＣ上で角張らさずに表示できる）。 In this way, the same effect as in the above embodiment can be obtained, and the lower part and the upper part of the overhead image can be smoothly joined as described above (that is, the captured image GB). A straight line portion such as the upper contour line can be displayed on the overhead image HC without being squared).
１ 車両周辺視認装置
３ 車両
５ 撮像装置
７ 画像処理装置
９ 表示装置
１１ 制御装置
ＧＡ，ＧＢ 撮像画像
Ｇａ，Ｇ１ 撮像画像の下側部分
Ｇｂ，Ｇ２〜Ｇｎ 撮像画像の中間部分
Ｇｃ，Ｇｎ 撮像画像の上側部分
ＨＡ，ＨＢ，ＨＣ 俯瞰画像
Ｈａ，Ｈ１ 俯瞰画像の下側部分（部分俯瞰画像）
Ｈｂ，Ｈ２〜Ｈｎ 俯瞰画像の中間部分（部分俯瞰画像）
Ｈｃ，Ｈｎ 俯瞰画像の上側部分（部分俯瞰画像）
Ｐａ，Ｐｂ，Ｐｃ，Ｐ１〜Ｐｎ 仮想視点
βａ，βｂ，βｃ，β１〜βｎ 俯角
DESCRIPTION OF SYMBOLS 1 Vehicle periphery visual recognition device 3 Vehicle 5 Imaging device 7 Image processing device 9 Display device 11 Control device GA, GB Captured image Ga, G1 Lower part of captured image Gb, G2-Gn Intermediate portion of captured image Gc, Gn Upper part HA, HB, HC overhead image Ha, H1 Lower part of overhead image (partial overhead image)
Hb, H2 to Hn Middle part of overhead view image (partial overhead view image)
Hc, Hn Upper part of the overhead view image (partial overhead view image)
Pa, Pb, Pc, P1 to Pn Virtual viewpoint βa, βb, βc, β1 to βn
Claims (7)
前記画像処理手段は、前記撮像画像の各部分によって前記仮想視点または前記仮想視点からの俯角を変化させる様にして前記撮像画像を俯瞰画像に視点変換することを特徴とする車両周辺視認装置。 Imaging means installed in a vehicle and imaging the periphery of the vehicle, image processing means for converting a viewpoint image into a bird's-eye view image that appears to be captured from a predetermined virtual viewpoint, and installed in the vehicle A vehicle periphery visual recognition device comprising display means for displaying the overhead image obtained from the image processing means,
The vehicle periphery visual recognition device, wherein the image processing means converts the captured image into a bird's-eye view image by changing the virtual viewpoint or a depression angle from the virtual viewpoint according to each part of the captured image.
2. The image processing means partially converts the viewpoint of the captured image so that a portion of the captured image that has undergone viewpoint conversion and a portion that has not undergone viewpoint conversion are continuously connected. The vehicle periphery visual recognition device according to any one of claims 3 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004125329A JP2005311666A (en) | 2004-04-21 | 2004-04-21 | Device for visually confirming periphery of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004125329A JP2005311666A (en) | 2004-04-21 | 2004-04-21 | Device for visually confirming periphery of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2005311666A true JP2005311666A (en) | 2005-11-04 |
Family
ID=35439928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2004125329A Pending JP2005311666A (en) | 2004-04-21 | 2004-04-21 | Device for visually confirming periphery of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2005311666A (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005311868A (en) * | 2004-04-23 | 2005-11-04 | Auto Network Gijutsu Kenkyusho:Kk | Vehicle periphery visually recognizing apparatus |
| JP2006287892A (en) * | 2005-03-09 | 2006-10-19 | Sanyo Electric Co Ltd | Driving support system |
| JP2007124609A (en) * | 2005-09-28 | 2007-05-17 | Nissan Motor Co Ltd | Apparatus for providing vehicle periphery image |
| WO2007111377A1 (en) * | 2006-03-27 | 2007-10-04 | Sanyo Electric Co., Ltd. | Drive assistance device |
| JP2008085446A (en) * | 2006-09-26 | 2008-04-10 | Clarion Co Ltd | Image generator and image generation method |
| JP2008141643A (en) * | 2006-12-05 | 2008-06-19 | Clarion Co Ltd | Image generation apparatus |
| JP2008148112A (en) * | 2006-12-12 | 2008-06-26 | Clarion Co Ltd | Drive assisting device |
| JP2008148114A (en) * | 2006-12-12 | 2008-06-26 | Clarion Co Ltd | Drive assisting device |
| JP2008149879A (en) * | 2006-12-18 | 2008-07-03 | Clarion Co Ltd | Operation assisting system |
| JP2008177856A (en) * | 2007-01-18 | 2008-07-31 | Sanyo Electric Co Ltd | Bird's-eye view image provision apparatus, vehicle, and bird's-eye view image provision method |
| JP2008294616A (en) * | 2007-05-23 | 2008-12-04 | Sanyo Electric Co Ltd | Driving support system and vehicle |
| JP2009171537A (en) * | 2007-12-17 | 2009-07-30 | Fujitsu Ltd | Vehicle image processing device, vehicle image processing program, and vehicle image processing method |
| JP2010218058A (en) * | 2009-03-13 | 2010-09-30 | Denso It Laboratory Inc | Device and method for supporting driving |
| WO2010119496A1 (en) * | 2009-04-13 | 2010-10-21 | 富士通株式会社 | Image processing device, image processing program, and image processing method |
| JP2011244239A (en) * | 2010-05-19 | 2011-12-01 | Fujitsu General Ltd | Driving support device |
| WO2012023412A1 (en) * | 2010-08-19 | 2012-02-23 | 日産自動車株式会社 | Three-dimensional object detection device and three-dimensional object detection method |
| US8189962B2 (en) * | 2006-12-19 | 2012-05-29 | Hitachi Kokusai Electric Inc. | Image processing apparatus |
| JP2012175314A (en) * | 2011-02-21 | 2012-09-10 | Nissan Motor Co Ltd | Vehicle drive support device |
| JP2021027366A (en) * | 2019-07-31 | 2021-02-22 | 株式会社デンソーテン | Image generating apparatus |
-
2004
- 2004-04-21 JP JP2004125329A patent/JP2005311666A/en active Pending
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005311868A (en) * | 2004-04-23 | 2005-11-04 | Auto Network Gijutsu Kenkyusho:Kk | Vehicle periphery visually recognizing apparatus |
| JP4596978B2 (en) * | 2005-03-09 | 2010-12-15 | 三洋電機株式会社 | Driving support system |
| JP2006287892A (en) * | 2005-03-09 | 2006-10-19 | Sanyo Electric Co Ltd | Driving support system |
| JP2007124609A (en) * | 2005-09-28 | 2007-05-17 | Nissan Motor Co Ltd | Apparatus for providing vehicle periphery image |
| US8174576B2 (en) | 2005-09-28 | 2012-05-08 | Nissan Motor Co., Ltd. | Vehicle periphery video providing apparatus and method |
| WO2007111377A1 (en) * | 2006-03-27 | 2007-10-04 | Sanyo Electric Co., Ltd. | Drive assistance device |
| US9308862B2 (en) | 2006-03-27 | 2016-04-12 | Panasonic Intellectual Property Management Co., Ltd. | Drive assistance device |
| JP2008085446A (en) * | 2006-09-26 | 2008-04-10 | Clarion Co Ltd | Image generator and image generation method |
| US8259173B2 (en) | 2006-09-26 | 2012-09-04 | Clarion Co., Ltd. | Image generating apparatus and image generating method |
| JP2008141643A (en) * | 2006-12-05 | 2008-06-19 | Clarion Co Ltd | Image generation apparatus |
| JP2008148114A (en) * | 2006-12-12 | 2008-06-26 | Clarion Co Ltd | Drive assisting device |
| JP2008148112A (en) * | 2006-12-12 | 2008-06-26 | Clarion Co Ltd | Drive assisting device |
| JP2008149879A (en) * | 2006-12-18 | 2008-07-03 | Clarion Co Ltd | Operation assisting system |
| US8189962B2 (en) * | 2006-12-19 | 2012-05-29 | Hitachi Kokusai Electric Inc. | Image processing apparatus |
| JP2008177856A (en) * | 2007-01-18 | 2008-07-31 | Sanyo Electric Co Ltd | Bird's-eye view image provision apparatus, vehicle, and bird's-eye view image provision method |
| JP2008294616A (en) * | 2007-05-23 | 2008-12-04 | Sanyo Electric Co Ltd | Driving support system and vehicle |
| JP2009171537A (en) * | 2007-12-17 | 2009-07-30 | Fujitsu Ltd | Vehicle image processing device, vehicle image processing program, and vehicle image processing method |
| JP2010218058A (en) * | 2009-03-13 | 2010-09-30 | Denso It Laboratory Inc | Device and method for supporting driving |
| US8773534B2 (en) | 2009-04-13 | 2014-07-08 | Fujitsu Limited | Image processing apparatus, medium recording image processing program, and image processing method |
| JP5267660B2 (en) * | 2009-04-13 | 2013-08-21 | 富士通株式会社 | Image processing apparatus, image processing program, and image processing method |
| WO2010119496A1 (en) * | 2009-04-13 | 2010-10-21 | 富士通株式会社 | Image processing device, image processing program, and image processing method |
| JP2011244239A (en) * | 2010-05-19 | 2011-12-01 | Fujitsu General Ltd | Driving support device |
| WO2012023412A1 (en) * | 2010-08-19 | 2012-02-23 | 日産自動車株式会社 | Three-dimensional object detection device and three-dimensional object detection method |
| JP5413516B2 (en) * | 2010-08-19 | 2014-02-12 | 日産自動車株式会社 | Three-dimensional object detection apparatus and three-dimensional object detection method |
| RU2540849C2 (en) * | 2010-08-19 | 2015-02-10 | Ниссан Мотор Ко., Лтд. | Device for detecting three-dimensional object and method of detecting three-dimensional object |
| US10397544B2 (en) | 2010-08-19 | 2019-08-27 | Nissan Motor Co., Ltd. | Three-dimensional object detection device and three-dimensional object detection method |
| JP2012175314A (en) * | 2011-02-21 | 2012-09-10 | Nissan Motor Co Ltd | Vehicle drive support device |
| JP2021027366A (en) * | 2019-07-31 | 2021-02-22 | 株式会社デンソーテン | Image generating apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2005311666A (en) | Device for visually confirming periphery of vehicle | |
| JP6084434B2 (en) | Image processing system and image processing method | |
| US8018490B2 (en) | Vehicle surrounding image display device | |
| JP4195966B2 (en) | Image display control device | |
| US8144033B2 (en) | Vehicle periphery monitoring apparatus and image displaying method | |
| JP4257356B2 (en) | Image generating apparatus and image generating method | |
| WO2012096058A1 (en) | Image generating device | |
| JP4739122B2 (en) | In-vehicle camera image composition apparatus and image composition method | |
| WO2010084731A1 (en) | Obstacle detection display device | |
| JP4902368B2 (en) | Image processing apparatus and image processing method | |
| JP5760999B2 (en) | Image processing apparatus and image processing method | |
| JP2007109166A (en) | Driving assistance system | |
| JP2010113424A (en) | Image synthesis apparatus and image synthesis method | |
| JP6733647B2 (en) | Image display | |
| JP7069692B2 (en) | Image display device | |
| TW201417042A (en) | Dynamic image processing method and dynamic image processing system | |
| US20200344450A1 (en) | View system for a vehicle | |
| JP2012156672A (en) | Vehicle periphery monitoring device | |
| JP2007027948A (en) | Apparatus and method for monitoring vehicle periphery | |
| KR101657673B1 (en) | Apparatus and method for generating panorama view | |
| JP2013026801A (en) | Vehicle periphery monitoring system | |
| JP5861871B2 (en) | Overhead image presentation device | |
| JP2008034964A (en) | Image display apparatus | |
| JP6293089B2 (en) | Rear monitor | |
| JP2019149143A (en) | Image synthesizing device and control method |