JP4615536B2 - Display device - Google Patents

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JP4615536B2
JP4615536B2 JP2007071176A JP2007071176A JP4615536B2 JP 4615536 B2 JP4615536 B2 JP 4615536B2 JP 2007071176 A JP2007071176 A JP 2007071176A JP 2007071176 A JP2007071176 A JP 2007071176A JP 4615536 B2 JP4615536 B2 JP 4615536B2
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いずみ 近藤
純司 江口
弘之 小池
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Honda Motor Co Ltd
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Description

この発明は、表示装置に関する。   The present invention relates to a display device.

従来、例えば車両のヘッドライト等の光源の照射領域を可視カメラおよび赤外カメラにより撮影し、各カメラの撮影により得られた可視画像および赤外画像を重畳して表示する視覚装置が知られている（例えば、特許文献１参照）。
特開平０９−３７１４７号公報 2. Description of the Related Art Conventionally, a visual device that captures an irradiation area of a light source such as a headlight of a vehicle with a visible camera and an infrared camera and superimposes and displays a visible image and an infrared image obtained by each camera is known. (For example, refer to Patent Document 1).
JP 09-37147 A

ところで、上記従来技術に係る視覚装置においては、例えば夜間等の歩行者を赤外カメラにより撮像し、更に歩行者周辺の走行区分線等を可視カメラにより撮像し、可視画像および赤外画像を重畳して得た重畳画像から歩行者の位置を検出することが可能である。しかしながら、単に、可視画像および赤外画像を重畳して表示するだけでは、重畳画像中の不必要な情報によって歩行者の検出が困難となる虞がある。
本発明は上記事情に鑑みてなされたもので、赤外線カメラおよび可視カメラの撮像により得られた各画像から適切な画像を生成することが可能な表示装置を提供することを目的としている。 By the way, in the visual device according to the above-described prior art, for example, a pedestrian at night or the like is imaged by an infrared camera, and a traveling division line around the pedestrian is imaged by a visible camera, and a visible image and an infrared image are superimposed. It is possible to detect the position of the pedestrian from the superimposed image obtained as described above. However, if the visible image and the infrared image are simply superimposed and displayed, unnecessary information in the superimposed image may make it difficult to detect a pedestrian.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a display device capable of generating an appropriate image from each image obtained by imaging with an infrared camera and a visible camera.

上記課題を解決して係る目的を達成するために、本発明の第１態様に係る表示装置は、可視画像を撮像する可視撮像手段（例えば、実施の形態での可視カメラ１１ａ）と、前記可視撮像手段にて撮像する領域の少なくとも一部を含む領域の赤外画像を撮像する赤外撮像手段（例えば、実施の形態で赤外カメラ１２ａ）と、前記可視撮像手段によって撮像された可視画像と前記赤外撮像手段によって撮像された赤外画像とを重畳させる重畳手段（例えば、実施の形態で重畳画像生成部２４）と、前記重畳手段にて重畳させた画像を表示する表示手段（例えば、実施の形態で表示部１４）と、前記重畳手段にて前記赤外画像に重畳させる前記可視画像中の設定領域を設定する領域設定手段（例えば、実施の形態で重畳領域設定部２３）とを備え、前記重畳手段は、前記領域設定手段にて設定された前記設定領域と、前記赤外画像とを重畳させる際に、前記可視画像中で前記赤外画像が重畳される前記設定領域以外の輝度をゼロとする。 In order to solve the above problems and achieve the object, a display device according to a first aspect of the present invention includes a visible imaging unit that captures a visible image (for example, the visible camera 11a in the embodiment), and the visible Infrared imaging means (for example, the infrared camera 12a in the embodiment) that captures an infrared image of an area including at least a part of an area captured by the imaging means, and a visible image captured by the visible imaging means Superimposing means for superimposing the infrared image captured by the infrared imaging means (for example, the superimposed image generating unit 24 in the embodiment), and display means for displaying the image superimposed by the superimposing means (for example, A display unit 14) in the embodiment, and a region setting unit (for example, a superimposed region setting unit 23 in the embodiment) for setting a setting region in the visible image to be superimposed on the infrared image by the superimposing unit. Prepared, Serial superimposing means, said set area set by said area setting means, when Ru is superimposed with said infrared image, brightness other than the said set area in which the infrared image in the visible image is superimposed the shall be the zero.

さらに、前記領域設定手段は、前記可視画像中の道路領域を抽出する道路領域抽出手段（例えば、実施の形態で道路領域抽出部２２）を備え、前記重畳手段は、前記道路領域抽出手段にて抽出された前記道路領域と、前記赤外画像とを重畳させる。 Furthermore , the area setting means includes road area extraction means (for example, a road area extraction unit 22 in the embodiment) for extracting a road area in the visible image, and the superimposing means is the road area extraction means. The extracted road area and the infrared image are superimposed.

さらに、前記重畳手段は、前記領域設定手段にて設定された前記設定領域と、前記設定領域以外の領域との境界においてグラデーション処理をして、前記設定領域と前記赤外画像とを重畳させ、前記設定領域の下端から鉛直方向上方に向かうほど輝度が低下するように設定する。 Further , the superimposing unit performs gradation processing at a boundary between the setting region set by the region setting unit and a region other than the setting region, and superimposes the setting region and the infrared image , It sets so that a brightness | luminance may fall, so that it goes to the perpendicular direction upper direction from the lower end of the said setting area | region .

本発明の第１態様に係る表示装置によれば、重畳手段は領域設定手段にて設定された可視画像上の設定領域と赤外画像とを重畳させることから、可視画像上において重畳に適さない不必要な情報を含む領域、例えば路面の上端よりも上方の領域や、例えば他車両のヘッドライトや街灯等の光源により輝度が過剰に高い領域等を除外して、例えば路面等の重要度が相対的に高い情報を含む領域のみを、赤外画像に重畳させることができ、重畳画像の視認性を向上させることができる。   According to the display device of the first aspect of the present invention, the superimposing unit superimposes the setting region on the visible image set by the region setting unit and the infrared image, and thus is not suitable for superimposing on the visible image. Exclude areas that contain unnecessary information, such as areas above the top of the road surface, areas that are excessively bright due to light sources such as headlights and street lights of other vehicles, etc. Only the region including relatively high information can be superimposed on the infrared image, and the visibility of the superimposed image can be improved.

さらに、可視画像上から抽出した道路領域を赤外画像に重畳させることにより、例えば赤外画像上において表示される歩行者等の物体が存在する領域周辺の情報を適切に表示することができ、重畳画像の視認性を向上させることができる。 Furthermore , by superimposing the road region extracted from the visible image on the infrared image, for example, information around the region where an object such as a pedestrian displayed on the infrared image exists can be appropriately displayed. The visibility of the superimposed image can be improved.

さらに、領域設定手段にて設定された設定領域と設定領域以外の領域との境界、つまり赤外画像に重畳される領域と重畳されない領域との境界において、例えば輝度等に対してグラデーション処理を行うことで、可視画像上において重畳に適さない不必要な情報（例えば、路面の上端よりも上方の領域や他車両のヘッドライトや街灯等）が過剰に表示されることを防止しつつ、重畳画像上に不必要な境界線が表示されることで車両の乗員が重畳画像に違和感を感じてしまうことを防止することができる。 Further , gradation processing is performed on, for example, luminance at the boundary between the setting region set by the region setting means and the region other than the setting region, that is, the boundary between the region superimposed on the infrared image and the region not superimposed. In this way, unnecessary information that is not suitable for superimposition on the visible image (for example, an area above the upper end of the road surface, headlights, street lights, etc. of other vehicles) is prevented from being excessively displayed, and the superimposed image is displayed. It is possible to prevent the vehicle occupant from feeling uncomfortable in the superimposed image by displaying an unnecessary boundary line above.

以下、本発明の一実施形態に係る表示装置について添付図面を参照しながら説明する。
本実施の形態による表示装置１０は、例えば図１に示すように、可視外界センサ１１と、赤外外界センサ１２と、処理装置１３と、表示部１４と、入力装置１５を備えて構成されている。
さらに、処理装置１３は、例えば消失点検知部２１と、道路領域抽出部２２と、重畳領域設定部２３と、重畳画像生成部２４とを備えて構成されている。 Hereinafter, a display device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
A display device 10 according to the present embodiment includes, for example, a visible external sensor 11, an infrared external sensor 12, a processing device 13, a display unit 14, and an input device 15 as shown in FIG. Yes.
Furthermore, the processing device 13 includes, for example, a vanishing point detection unit 21, a road region extraction unit 22, a superimposed region setting unit 23, and a superimposed image generation unit 24.

可視外界センサ１１は、例えば可視光領域にて撮像可能な可視カメラ１１ａおよび画像処理部１１ｂとを備えて構成されている。
また、赤外外界センサ１２は、例えば赤外線領域にて撮像可能な赤外カメラ１２ａおよび画像処理部１２ｂとを備えて構成され、赤外カメラ１２ａは可視カメラ１１ａにて撮像する領域の少なくとも一部を含む領域を撮像する。
そして、各画像処理部１１ｂ，１２ｂは、各カメラ１１ａ，１２ａにより撮影して得た自車両の進行方向の外界の各画像に対して、例えばフィルタリングや二値化処理等の所定の画像処理を行い、二次元配列の画素からなる各画像のデータを生成して処理装置１３へ出力する。 The visible external sensor 11 includes, for example, a visible camera 11a and an image processing unit 11b that can capture an image in the visible light region.
The infrared external sensor 12 includes, for example, an infrared camera 12a and an image processing unit 12b that can capture an image in the infrared region, and the infrared camera 12a is at least a part of an image captured by the visible camera 11a. An area including the image is captured.
Each image processing unit 11b, 12b performs predetermined image processing such as filtering or binarization processing on each image of the external world in the traveling direction of the host vehicle obtained by photographing with each camera 11a, 12a. To generate data of each image composed of pixels of a two-dimensional array and output the data to the processing device 13.

処理装置１３の消失点検知部２１は、例えば図２（ａ）に示すように、可視外界センサ１１から出力される可視画像のデータに基づき、例えば自車両の走行路上の走行区分線等の複数の直線を検出し、これらの直線同士の交点から消失点を検知する。
道路領域抽出部２２は、例えば図３（ａ）に示すように、可視外界センサ１１から出力される可視画像のデータに基づき、例えば適宜の認識処理等により自車両の走行路の道路領域（つまり路面）を抽出する。 As shown in FIG. 2A, for example, the vanishing point detection unit 21 of the processing device 13 is based on the data of the visible image output from the visible external sensor 11 and, for example, a plurality of traveling lane markings on the traveling path of the host vehicle. The straight line is detected, and the vanishing point is detected from the intersection of these straight lines.
For example, as shown in FIG. 3A, the road area extraction unit 22 is based on the data of the visible image output from the visible external sensor 11 and performs, for example, a road area (that is, a road area of the traveling path of the host vehicle by appropriate recognition processing). Road surface).

重畳領域設定部２３は、消失点検知部２１から出力される可視画像上の消失点、あるいは、道路領域抽出部２２から出力される可視画像上の道路領域、あるいは、入力装置１５を介して操作者から入力される入力指示に応じて、赤外画像に重畳させる可視画像中の重畳領域を設定する。
例えば図２（ａ），（ｂ）に示すように、重畳領域設定部２３は、消失点検知部２１から出力される可視画像上の消失点を含む直線（例えば、水平線等）を、重畳領域と、この重畳領域以外の領域との境界線（重畳境界線）として設定する。
また、例えば図３（ａ），（ｂ）に示すように、重畳領域設定部２３は、道路領域抽出部２２から出力される可視画像上の道路領域の上端を、重畳領域と、この重畳領域以外の領域との境界線（重畳境界線）として設定する。
また、例えば図４（ａ），（ｂ）に示すように、重畳領域設定部２３は、入力装置１５を介して操作者から入力される入力指示に応じた可視画像上の直線を、重畳領域と、この重畳領域以外の領域との境界線（重畳境界線）として設定する。 The superimposed region setting unit 23 is operated via the vanishing point on the visible image output from the vanishing point detection unit 21, the road region on the visible image output from the road region extraction unit 22, or the input device 15. In accordance with an input instruction input from a person, a superimposition region in the visible image to be superimposed on the infrared image is set.
For example, as illustrated in FIGS. 2A and 2B, the overlapping region setting unit 23 converts a straight line (for example, a horizontal line) including the vanishing point on the visible image output from the vanishing point detection unit 21 into the overlapping region. And a boundary line (superimposition boundary line) with an area other than the superimposition area.
For example, as shown in FIGS. 3A and 3B, the superimposition area setting unit 23 sets the upper end of the road area on the visible image output from the road area extraction unit 22 as the superimposition area and the superimposition area. Set as a boundary line (overlapping boundary line) with a region other than.
For example, as illustrated in FIGS. 4A and 4B, the superimposition region setting unit 23 displays a straight line on the visible image corresponding to an input instruction input from the operator via the input device 15. And a boundary line (superimposition boundary line) with an area other than the superimposition area.

重畳画像生成部２４は、赤外外界センサ１２から出力される赤外画像と、可視外界センサ１１から出力される可視画像とを重畳して、重畳画像を生成する。
重畳画像生成部２４は、重畳画像を生成する際に、可視画像上の重畳領域のみを赤外画像に重畳するようにして、例えば図２（ｂ），図３（ｂ），図４（ｂ）に示すように、可視画像上の重畳領域以外の領域、例えば重畳境界線と可視画像の上端との間の領域の輝度をゼロとする。
さらに、重畳画像生成部２４は、グラデーション処理として、赤外画像に重畳する可視画像上の重畳領域に対して、例えば下記数式（１）に示す減衰率ｇ（ｙ）に応じた輝度を設定し、重畳領域の下端から鉛直方向上方に重畳境界線位置ｙｂへと向かうことに伴い、重畳領域の輝度がゼロに向かい低下傾向に変化するように設定する。
なお、下記数式（１）において、減衰率ｇ（ｙ）は、重畳境界線位置ｙｂと、鉛直方向座標ｙと、所定係数ａ（例えば、ａ＝０．０５）とに基づき記述されている。 The superimposed image generation unit 24 generates a superimposed image by superimposing the infrared image output from the infrared external sensor 12 and the visible image output from the visible external sensor 11.
When generating the superimposed image, the superimposed image generation unit 24 superimposes only the superimposed region on the visible image on the infrared image, for example, FIG. 2B, FIG. 3B, FIG. ), The brightness of the region other than the superimposed region on the visible image, for example, the region between the superimposed boundary line and the upper end of the visible image is set to zero.
Furthermore, the superimposed image generation unit 24 sets, for example, luminance corresponding to the attenuation rate g (y) shown in the following formula (1) for the superimposed region on the visible image to be superimposed on the infrared image as gradation processing. Along with it towards the superposed boundary line position y b vertically upwards from the lower end of the overlapping region, the brightness of the overlapping area is set so as to decrease with facing to zero.
In the following equation (1), the attenuation factor g (y) is a superimposing the boundary line position y b, the vertical coordinate y, are described based on a predetermined coefficient a (for example, a = 0.05) .

Figure 0004615536
Figure 0004615536

そして、重畳画像生成部２４は、生成した重畳画像を、モニター等からなる表示部１４に出力する。   Then, the superimposed image generation unit 24 outputs the generated superimposed image to the display unit 14 including a monitor or the like.

本実施の形態による表示装置１０は上記構成を備えており、次に、この表示装置１０の動作について説明する。   The display device 10 according to the present embodiment has the above-described configuration. Next, the operation of the display device 10 will be described.

先ず、図５に示すステップＳ０１においては、自車両の進行方向前方の外界領域の可視画像および赤外画像を取得する。
次に、ステップＳ０２においては、可視画像上で重畳領域の重畳境界線を設定する。
次に、ステップＳ０３においては、可視画像上で重畳領域以外の領域の輝度をゼロに設定する。
次に、ステップＳ０４においては、可視画像上で重畳領域に対してグラデーション処理を行う。
次に、ステップＳ０５においては、赤外画像と可視画像とを重畳して重畳画像を生成し、重畳画像を表示部１４により表示し、一連の処理を終了する。 First, in step S01 shown in FIG. 5, a visible image and an infrared image of the external field area ahead of the traveling direction of the host vehicle are acquired.
Next, in step S02, an overlapping boundary line of the overlapping region is set on the visible image.
Next, in step S03, the brightness of the region other than the superimposed region on the visible image is set to zero.
Next, in step S04, gradation processing is performed on the superimposed region on the visible image.
Next, in step S05, a superimposed image is generated by superimposing the infrared image and the visible image, the superimposed image is displayed by the display unit 14, and the series of processes is terminated.

上述したように、本実施の形態による表示装置１０によれば、消失点検知部２１から出力される可視画像上の消失点、あるいは、道路領域抽出部２２から出力される可視画像上の道路領域、あるいは、入力装置１５を介して操作者から入力される入力指示に応じて設定した可視画像中の重畳領域と、赤外画像とを重畳させることから、可視画像上において重畳に適さない不必要な情報を含む領域、例えば他車両のヘッドライトや街灯等の光源により輝度が過剰に高い領域等を除外して、例えば路面等の重要度が相対的に高い情報を含む領域のみを、赤外画像に重畳させることができ、重畳画像の視認性を向上させることができる。
例えば図６（ａ）に示す実施例での重畳画像、つまり可視画像上の重畳境界線位置ｙｂよりも鉛直方向下方の重畳領域のみを赤外画像に重畳して得た重畳画像では、例えば図６（ｂ）に示す比較例での重畳画像のように、可視画像全体（つまり、重畳領域に加えて、重畳領域以外の非重畳領域）を赤外画像に重畳して得た重畳画像に比べて、対向車両のヘッドライトや街灯等の輝度が過剰に高い領域が除外されることから、赤外画像上において表示される歩行者等の物体に対する視認性を向上させることができる。 As described above, according to the display device 10 according to the present embodiment, the vanishing point on the visible image output from the vanishing point detection unit 21 or the road region on the visible image output from the road region extraction unit 22. Alternatively, the superimposing region in the visible image set according to the input instruction input from the operator via the input device 15 and the infrared image are superposed, so that it is not necessary for superimposing on the visible image. Exclude areas that contain sensitive information, such as areas that are excessively bright due to light sources such as headlights and street lights of other vehicles, and only infrared areas that contain relatively high importance information such as road surfaces. It can be superimposed on the image, and the visibility of the superimposed image can be improved.
For example, in the superimposed image in the embodiment shown in FIG. 6A, that is, the superimposed image obtained by superimposing only the superimposed region below the superimposed boundary position y b on the visible image in the vertical direction on the infrared image, As in the superimposed image in the comparative example shown in FIG. 6B, the entire visible image (that is, the non-superimposed region other than the superimposed region) is superimposed on the infrared image. In comparison, since areas with excessively high brightness such as headlights and street lights of oncoming vehicles are excluded, it is possible to improve the visibility of objects such as pedestrians displayed on an infrared image.

しかも、グラデーション処理によって重畳領域の輝度は徐々に変化するように設定されていることから、重畳領域と、重畳領域以外の非重畳領域との境界において、例えば重畳画像上に境界線が現れる等の違和感が生じることを防止することができる。
例えば図７（ａ）に示す実施例での重畳画像、つまり重畳領域の下端から鉛直方向上方に重畳境界線位置ｙｂへと向かうことに伴い、可視画像の輝度の減衰率がゼロから１００％に向かい増大傾向に変化（つまり、可視画像の輝度がゼロに向かい減少傾向に変化）する重畳画像では、例えば図７（ｂ）に示す比較例での重畳画像のように、重畳領域全体に亘って輝度の減衰率がゼロとなる重畳画像に比べて、可視画像上の重畳境界線位置ｙｂにおいて輝度がステップ状に変化することに起因して、重畳画像の上の重畳境界線位置ｙｂに不必要な境界線が現れることが防止される。 In addition, since the luminance of the superimposed area is set to gradually change by gradation processing, for example, a boundary line appears on the superimposed image at the boundary between the superimposed area and the non-superimposed area other than the superimposed area. It is possible to prevent an uncomfortable feeling.
For example superimposed image of the embodiment shown in FIG. 7 (a), i.e. with that toward the superimposed boundary line position y b vertically upwards from the lower end of the overlapping region, 100% luminance decay rate of the visible image from the zero In the superimposed image that changes toward the increase (that is, the luminance of the visible image decreases toward zero), for example, like the superimposed image in the comparative example shown in FIG. compared to the superposition image attenuation rate of the luminance is zero Te, due to the luminance changes stepwise in superimposing the boundary line position y b on the visible image, superimposing the boundary line position y b on the superimposed image An unnecessary boundary line is prevented from appearing in

本発明の実施の形態に係る表示装置の構成図である。It is a block diagram of the display apparatus which concerns on embodiment of this invention. 図２（ａ）は本発明の実施の形態に係る可視画像上の重畳境界線の一例を示す図であり、図２（ｂ）は本発明の実施の形態に係る可視画像の輝度と輝度の減衰率の一例を示す図である。FIG. 2A is a diagram illustrating an example of a superimposed boundary line on a visible image according to the embodiment of the present invention, and FIG. 2B is a diagram illustrating luminance and luminance of the visible image according to the embodiment of the present invention. It is a figure which shows an example of an attenuation factor. 図３（ａ）は本発明の実施の形態に係る可視画像上の重畳境界線の一例を示す図であり、図３（ｂ）は本発明の実施の形態に係る可視画像の輝度と輝度の減衰率の一例を示す図である。FIG. 3A is a diagram showing an example of a superimposed boundary line on the visible image according to the embodiment of the present invention, and FIG. It is a figure which shows an example of an attenuation factor. 図４（ａ）は本発明の実施の形態に係る可視画像上の重畳境界線の一例を示す図であり、図４（ｂ）は本発明の実施の形態に係る可視画像の輝度と輝度の減衰率の一例を示す図である。FIG. 4A is a diagram illustrating an example of a superimposed boundary line on a visible image according to the embodiment of the present invention, and FIG. 4B is a diagram illustrating luminance and luminance of the visible image according to the embodiment of the present invention. It is a figure which shows an example of an attenuation factor. 本発明の実施の形態に係る表示装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the display apparatus which concerns on embodiment of this invention. 本発明の実施の形態に係る実施例および比較例での重畳画像の一例を示す図である。It is a figure which shows an example of the superimposition image in the Example and comparative example which concern on embodiment of this invention. 本発明の実施の形態に係る実施例および比較例での重畳画像の一例を示す図である。It is a figure which shows an example of the superimposition image in the Example and comparative example which concern on embodiment of this invention.

符号の説明Explanation of symbols

１０ 表示装置
１１ａ 可視カメラ（可視撮像手段）
１２ａ 赤外カメラ（赤外撮像手段）
１４ 表示部（表示手段）
１５ 入力装置（操作者設定手段）
２２ 道路領域抽出部（道路領域抽出手段）
２３ 重畳領域設定部（領域設定手段、操作者設定手段）
２４ 重畳画像生成部（重畳手段） 10 Display device 11a Visible camera (visible imaging means)
12a Infrared camera (infrared imaging means)
14 Display section (display means)
15 Input device (operator setting means)
22 Road area extraction unit (road area extraction means)
23 Superimposition area setting section (area setting means, operator setting means)
24 Superimposed image generator (superimposing means)

Claims (1)

可視画像を撮像する可視撮像手段と、
前記可視撮像手段にて撮像する領域の少なくとも一部を含む領域の赤外画像を撮像する赤外撮像手段と、
前記可視撮像手段によって撮像された可視画像と前記赤外撮像手段によって撮像された赤外画像とを重畳させる重畳手段と、
前記重畳手段にて重畳させた画像を表示する表示手段と、
前記重畳手段にて前記赤外画像に重畳させる前記可視画像中の設定領域を設定する領域設定手段とを備え、
前記重畳手段は、前記領域設定手段にて設定された前記設定領域と、前記赤外画像とを重畳させる際に、前記可視画像中で前記赤外画像が重畳される前記設定領域以外の輝度をゼロとし、
前記領域設定手段は、前記可視画像中の道路領域を抽出する道路領域抽出手段を備え、
前記重畳手段は、前記道路領域抽出手段にて抽出された前記道路領域と、前記赤外画像とを重畳させ、
前記重畳手段は、前記領域設定手段にて設定された前記設定領域と、前記設定領域以外の領域との境界においてグラデーション処理をして、前記設定領域と前記赤外画像とを重畳させ、前記設定領域の下端から鉛直方向上方に向かうほど輝度が低下するように設定することを特徴とする表示装置。 Visible imaging means for imaging a visible image;
Infrared imaging means for imaging an infrared image of a region including at least a part of the region imaged by the visible imaging means;
A superimposing unit that superimposes the visible image captured by the visible imaging unit and the infrared image captured by the infrared imaging unit;
Display means for displaying the image superimposed by the superimposing means;
Area setting means for setting a setting area in the visible image to be superimposed on the infrared image by the superimposing means,
Said superimposing means includes: the setting area set by said area setting means, wherein when Ru are superimposed and infrared images, brightness other than the setting area where the said infrared image in the visible image is superimposed Is zero,
The area setting means comprises road area extraction means for extracting a road area in the visible image,
The superimposing unit superimposes the road region extracted by the road region extracting unit and the infrared image,
The superimposing unit performs gradation processing at a boundary between the setting region set by the region setting unit and a region other than the setting region, superimposes the setting region and the infrared image, and sets the setting. A display device, characterized in that the luminance is set so as to decrease in the vertical direction from the lower end of the region .
JP2007071176A 2007-03-19 2007-03-19 Display device Expired - Fee Related JP4615536B2 (en)

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JPH04205321A (en) * 1990-11-30 1992-07-27 Honda Motor Co Ltd Controller for autonomous moving object
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