JP2018050277A5 - - Google Patents
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- JP2018050277A5 JP2018050277A5 JP2017073368A JP2017073368A JP2018050277A5 JP 2018050277 A5 JP2018050277 A5 JP 2018050277A5 JP 2017073368 A JP2017073368 A JP 2017073368A JP 2017073368 A JP2017073368 A JP 2017073368A JP 2018050277 A5 JP2018050277 A5 JP 2018050277A5
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- 240000004050 Pentaglottis sempervirens Species 0.000 claims 8
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims 8
- 230000002093 peripheral Effects 0.000 claims 6
- 238000006243 chemical reaction Methods 0.000 claims 4
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- 230000000875 corresponding Effects 0.000 claims 2
- 238000001514 detection method Methods 0.000 claims 1
Claims (10)
前記車両の周辺において検出した障害物の、前記車両から前記障害物までの距離を含む障害物情報を取得する障害物情報取得部と、
前記映像取得部が取得した周辺映像から前記車両を上方から見下ろすように視点変換処理を行った俯瞰映像を生成する俯瞰映像生成部と、
前記障害物情報取得部が取得した障害物情報に基づいて、検出した障害物までの距離が所定閾値以上であれば、前記俯瞰映像で囲まれた中央部に前記車両を示す自車アイコンを表示させ、前記障害物を示す情報を前記俯瞰映像に重畳させた俯瞰映像を生成し、検出した障害物までの距離が所定閾値未満であれば、前記障害物を示す情報を前記俯瞰映像で囲まれた中央部に重畳した俯瞰映像を生成する重畳映像生成部と、
前記重畳映像生成部が生成した俯瞰映像を表示部に表示させる表示制御部と
を有することを特徴とする俯瞰映像生成装置。 An image acquisition unit that acquires a peripheral image of the periphery of the vehicle,
An obstacle information acquisition unit that acquires obstacle information including a distance from the vehicle to the obstacle, of the obstacle detected around the vehicle,
An overhead view image generation unit that generates an overhead view image that has been subjected to a viewpoint conversion process so as to look down on the vehicle from above from the surrounding image acquired by the image acquisition unit,
Based on the obstacle information acquired by the obstacle information acquisition unit , if the distance to the detected obstacle is equal to or greater than a predetermined threshold, a self-vehicle icon indicating the vehicle is displayed in a central portion surrounded by the overhead image. Generating an overhead image in which the information indicating the obstacle is superimposed on the overhead image, and if the distance to the detected obstacle is less than a predetermined threshold, the information indicating the obstacle is surrounded by the overhead image. A superimposed video generation unit for generating an overhead video superimposed on the center part,
A display control unit that causes the display unit to display the overhead image generated by the superimposed image generation unit.
前記重畳映像生成部は、前記障害物情報取得部が取得した障害物情報に基づいて、検出した障害物までの距離が前記俯瞰映像として表示する範囲より遠方であれば、前記俯瞰映像で囲まれた中央部に前記車両を示す自車アイコンを表示させ、前記障害物を示す情報を前記俯瞰映像に重畳させた俯瞰映像を生成し、前記障害物情報取得部が取得した障害物情報に基づいて、検出した障害物までの距離が前記俯瞰映像として表示する範囲に含まれる範囲であれば、前記障害物を示す情報を前記俯瞰映像で囲まれた中央部に重畳した俯瞰映像を生成する請求項１に記載の俯瞰映像生成装置。 The obstacle information acquisition unit acquires obstacle information of an obstacle detected in a range farther than a range to be displayed as the overhead view video,
The superimposed image generation unit is surrounded by the overhead image if the distance to the detected obstacle is farther than a range to be displayed as the overhead image based on the obstacle information acquired by the obstacle information acquisition unit. A self-vehicle icon indicating the vehicle is displayed in the center portion, and an overhead view image is generated by superimposing the information indicating the obstacle on the overhead view image, based on the obstacle information acquired by the obstacle information acquisition section. If the distance to the detected obstacle is a range included in the range displayed as the overhead image, an overhead image is generated by superimposing information indicating the obstacle on a central portion surrounded by the overhead image. 2. The overhead view image generation device according to 1.
前記重畳映像生成部は、検出した障害物までの距離に基づいて、前記複数の構成要素の間隔を変化させる、
請求項１から４のいずれか一項に記載の俯瞰映像生成装置。 The information indicating the obstacle has a plurality of components oriented in a direction in which the obstacle is detected, and indicates a distance to the obstacle by an interval between the plurality of components,
The superimposed video generation unit, based on the distance to the detected obstacle, changes the interval of the plurality of components,
The overhead view image generation device according to any one of claims 1 to 4 .
前記車両の周辺において検出した障害物の水平方向幅を含む障害物情報を取得する障害物情報取得部と、
前記映像取得部が取得した周辺映像から前記車両を上方から見下ろすように視点変換処理を行った俯瞰映像を生成する俯瞰映像生成部と、
前記障害物情報取得部が取得した障害物情報に基づいて、前記障害物を示す情報の幅を、検出した障害物の水平方向幅に対応させた幅として前記俯瞰映像で囲まれた中央部に重畳した俯瞰映像を生成する重畳映像生成部と、
前記重畳映像生成部が生成した俯瞰映像を表示部に表示させる表示制御部と
を有することを特徴とする俯瞰映像生成装置。 An image acquisition unit that acquires a peripheral image of the periphery of the vehicle,
Obstacle information acquisition unit that acquires obstacle information including the horizontal width of the obstacle detected around the vehicle,
An overhead view image generation unit that generates an overhead view image that has been subjected to a viewpoint conversion process so as to look down on the vehicle from above from the surrounding image acquired by the image acquisition unit,
Based on the obstacle information acquired by the obstacle information acquisition unit, the width of the information indicating the obstacle, the width corresponding to the horizontal width of the detected obstacle in the center surrounded by the overhead image A superimposed video generation unit that generates a superimposed overhead video,
A display control unit that causes the display unit to display the overhead image generated by the superimposed image generation unit.
前記車両の周辺を撮影し前記映像取得部に周辺映像を供給する撮影部と、
前記車両の周辺において障害物を検出し前記障害物情報取得部に障害物情報を供給する障害物検出部と
を有することを特徴とする俯瞰映像生成システム。 An overhead view video generation device according to any one of claims 1 to 7 ,
A photographing unit that photographs the periphery of the vehicle and supplies a peripheral image to the image acquisition unit;
An obstacle detection unit that detects an obstacle around the vehicle and supplies the obstacle information to the obstacle information acquisition unit.
前記車両の周辺において検出した障害物の、前記車両から前記障害物までの距離を含む障害物情報を取得する障害物情報取得ステップと、
前記映像取得ステップで取得した周辺映像から前記車両を上方から見下ろすように視点変換処理を行った俯瞰映像を生成する俯瞰映像生成ステップと、
前記障害物情報取得ステップで取得した障害物情報に基づいて、検出した障害物までの距離が所定閾値以上であれば、前記俯瞰映像で囲まれた中央部に前記車両を示す自車アイコンを表示させ、前記障害物を示す情報を前記俯瞰映像に重畳させた俯瞰映像を生成し、検出した障害物までの距離が所定閾値未満であれば、前記障害物を示す情報を前記俯瞰映像で囲まれた中央部に重畳した俯瞰映像を生成する重畳映像生成ステップと、
前記重畳映像生成ステップで生成した俯瞰映像を表示部に表示させる表示制御ステップと
を俯瞰映像生成装置が実行する俯瞰映像生成方法。 An image acquisition step of acquiring a peripheral image of the periphery of the vehicle,
Obstacle information acquisition step of acquiring obstacle information including the distance from the vehicle to the obstacle, of the obstacle detected around the vehicle,
An overhead image generation step of generating an overhead image that has been subjected to a viewpoint conversion process so as to look down on the vehicle from above from the peripheral image acquired in the image acquisition step,
Based on the obstacle information acquired in the obstacle information acquiring step, if the distance to the detected obstacle is equal to or greater than a predetermined threshold, a self-vehicle icon indicating the vehicle is displayed in a central portion surrounded by the overhead image. Generating an overhead image in which the information indicating the obstacle is superimposed on the overhead image, and if the distance to the detected obstacle is less than a predetermined threshold, the information indicating the obstacle is surrounded by the overhead image. A superimposed video generating step of generating an overhead video superimposed on the center portion,
A bird's-eye view image generation method, wherein the bird's-eye view image generation device executes a display control step of displaying the bird's-eye view image generated in the superimposed image generation step on a display unit.
前記車両の周辺において検出した障害物の水平方向幅を含む障害物情報を取得する障害物情報取得ステップと、
前記映像取得ステップで取得した周辺映像から前記車両を上方から見下ろすように視点変換処理を行った俯瞰映像を生成する俯瞰映像生成部ステップと、
前記障害物情報取得ステップで取得した障害物情報に基づいて、前記障害物を示す情報の幅を、検出した障害物の水平方向幅に対応させた幅として前記俯瞰映像で囲まれた中央部に重畳した俯瞰映像を生成する重畳映像生成ステップと、
前記重畳映像生成で生成した俯瞰映像を表示部に表示させる表示制御ステップと
を俯瞰映像生成装置が実行する俯瞰映像生成方法。
An image acquisition step of acquiring a peripheral image of the periphery of the vehicle,
Obstacle information acquisition step of acquiring obstacle information including the horizontal width of the obstacle detected around the vehicle,
An overhead view image generation unit step of generating an overhead view image that has been subjected to a viewpoint conversion process so as to look down on the vehicle from above from the surrounding image obtained in the image obtaining step,
Based on the obstacle information acquired in the obstacle information acquisition step, the width of the information indicating the obstacle, the width corresponding to the horizontal width of the detected obstacle in the center surrounded by the overhead image A superimposed video generation step of generating a superimposed overhead video,
A bird's-eye video generation method, wherein the bird's- eye video generation device executes a display control step of displaying a bird's-eye video generated by the superimposed video generation on a display unit.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201780023741.3A CN109076195B (en) | 2016-09-20 | 2017-07-04 | Overhead image generation device, system, method and storage medium |
| PCT/JP2017/024558 WO2018055873A1 (en) | 2016-09-20 | 2017-07-04 | Overhead view video image generation device, overhead view video image generation system, overhead view video image generation method, and program |
| EP17852654.7A EP3462733B1 (en) | 2016-09-20 | 2017-07-04 | Overhead view video image generation device, overhead view video image generation system, overhead view video image generation method, and program |
| US16/208,650 US10587801B2 (en) | 2016-09-20 | 2018-12-04 | Bird's-eye view video generation device, bird'S-eye view video generation system, bird's-eye view video generation method, and non-transitory storage medium |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016183103 | 2016-09-20 | ||
| JP2016183103 | 2016-09-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2020109458A Division JP7196881B2 (en) | 2016-09-20 | 2020-06-25 | OVERALL VIEW VIDEO GENERATION DEVICE AND OVERALL VIEW VIDEO GENERATION METHOD |
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| Publication Number | Publication Date |
|---|---|
| JP2018050277A JP2018050277A (en) | 2018-03-29 |
| JP2018050277A5 true JP2018050277A5 (en) | 2019-12-19 |
| JP6730617B2 JP6730617B2 (en) | 2020-07-29 |
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| JP2017073368A Active JP6730617B2 (en) | 2016-09-20 | 2017-04-03 | Overhead video generation device, overhead video generation system, overhead video generation method and program |
| JP2020109458A Active JP7196881B2 (en) | 2016-09-20 | 2020-06-25 | OVERALL VIEW VIDEO GENERATION DEVICE AND OVERALL VIEW VIDEO GENERATION METHOD |
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| JP2020109458A Active JP7196881B2 (en) | 2016-09-20 | 2020-06-25 | OVERALL VIEW VIDEO GENERATION DEVICE AND OVERALL VIEW VIDEO GENERATION METHOD |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7147248B2 (en) * | 2018-04-27 | 2022-10-05 | 株式会社タダノ | crane truck |
| JP7180172B2 (en) | 2018-07-30 | 2022-11-30 | 株式会社Ｊｖｃケンウッド | OVERALL VIEW IMAGE GENERATING DEVICE, OVERALL VIEW IMAGE GENERATING METHOD AND PROGRAM |
| JP7065068B2 (en) * | 2019-12-13 | 2022-05-11 | 本田技研工業株式会社 | Vehicle surroundings monitoring device, vehicle, vehicle surroundings monitoring method and program |
| JP7421584B2 (en) * | 2022-03-14 | 2024-01-24 | 本田技研工業株式会社 | Control device, control method, and control program |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006341641A (en) * | 2005-06-07 | 2006-12-21 | Nissan Motor Co Ltd | Image display apparatus and image display method |
| JP5294562B2 (en) * | 2007-01-18 | 2013-09-18 | クラリオン株式会社 | Vehicle periphery monitoring device and display method thereof |
| JP5381847B2 (en) | 2010-03-24 | 2014-01-08 | 株式会社デンソー | Vehicle display device |
| WO2012144076A1 (en) * | 2011-04-22 | 2012-10-26 | トヨタ自動車株式会社 | Vehicle periphery monitoring device and display method for vehicle periphery monitoring information |
| JP2012244600A (en) | 2011-05-24 | 2012-12-10 | Fujitsu Ten Ltd | Image display system, image processing apparatus, and image display method |
| JP6339337B2 (en) * | 2013-09-24 | 2018-06-06 | 日立建機株式会社 | Moving object detection system around the vehicle |
| JP2016063390A (en) | 2014-09-18 | 2016-04-25 | 富士通テン株式会社 | Image processing system and image display system |
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