JP7088807B2 - 画像処理装置、カメラ、移動体および画像処理方法 - Google Patents
画像処理装置、カメラ、移動体および画像処理方法 Download PDFInfo
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- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Automation & Control Theory (AREA)
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Description
移動体の周辺画像を取得するステップと、前記周辺画像に対して、前記移動体の特定部位の前記移動体の進行方向についての進路軌跡を示す表示を、路面からの前記特定部位の高さに対応する位置に重畳するステップと、前記周辺画像に含まれる前記移動体の進行方向に存在する障害物と、前記特定部位の進路軌跡とが接触する場合、前記進路軌跡を示す表示を変形させるステップと、を含む。
、同一または同等の構成要素を示している。
h2=d×sinβ ・・・式(1)
x=h2-H ・・・式(2)
f:Z0=|u2-u1|:ΔD ・・・式(3)
H’=D×sinα ・・・式(7)
1A カメラ
2 バンパ
2a バンパの底面
3,3a,3b,3c 路面
4 リアスポイラ
6 屋根
7 タイヤ
10 画像処理装置
11 撮像部
11a 撮像光学系
11b 撮像素子
12 インターフェイス
13 プロセッサ
14 メモリ
15 表示部
100,101 進路軌跡を示す表示
200,201 障害物
Claims (9)
- 移動体の周辺画像を取得するインターフェイスと、
前記周辺画像に対して、前記移動体の特定部位の前記移動体の進行方向についての進路軌跡を示す表示を、路面からの前記特定部位の高さに対応する位置に重畳するプロセッサと、を備え、
前記プロセッサは、前記周辺画像に含まれる前記移動体の進行方向に存在する障害物と、前記特定部位の進路軌跡とが接触する場合、前記進路軌跡を示す表示を変形させる、画像処理装置。 - 前記プロセッサは、前記進路軌跡を示す表示のうち、前記周辺画像に含まれる前記障害物の像と前記特定部位の進路軌跡の表示とが接触する部分を変形させる、請求項1に記載の画像処理装置。
- 前記特定部位は、前記移動体の移動に対して、高さ方向の制約となる部位である、請求項1または2に記載の画像処理装置。
- 前記移動体は車両であり、
前記特定部位は、前記車両のバンパー底面、前記車両の屋根、または、前記車両の屋根に設置された設置物である、請求項3に記載の画像処理装置。 - 前記プロセッサは、前記障害物と前記進路軌跡とが接触する場合、接触の危険性を示す表示を前記周辺画像に重畳し、または、接触の危険性を示す信号を外部に出力する、請求項1から4のいずれか一項に記載の画像処理装置。
- 前記プロセッサは、前記路面の高低差に応じて前記進路軌跡を示す表示を補正する、請求項1から5のいずれか一項に記載の画像処理装置。
- 撮像光学系と、
前記撮像光学系を介して結像した像を撮像する撮像素子と、
前記撮像素子により撮像された、移動体の周辺画像を取得するインターフェイスと、
前記周辺画像に対して、前記移動体の特定部位の前記移動体の進行方向についての進路軌跡を示す表示を、路面からの前記特定部位の高さに対応する位置に重畳するプロセッサと、を備え、
前記プロセッサは、前記周辺画像に含まれる前記移動体の進行方向に存在する障害物と、前記特定部位の進路軌跡とが接触する場合、前記進路軌跡を示す表示を変形させる、カメラ。 - 移動体であって、
表示部と、
前記移動体の周辺を撮像するカメラと、を備え、
前記カメラは、
撮像光学系と、
前記撮像光学系を介して結像した像を撮像する撮像素子と、
前記撮像素子により撮像された、前記移動体の周辺画像を取得するインターフェイスと、
前記周辺画像に対して、前記移動体の特定部位の前記移動体の進行方向についての進路軌跡を示す表示を、路面からの前記特定部位の高さに対応する位置に重畳して、前記表示部に表示するプロセッサと、を備え、
前記プロセッサは、前記周辺画像に含まれる前記移動体の進行方向に存在する障害物と、前記特定部位の進路軌跡とが接触する場合、前記進路軌跡を示す表示を変形させる、移動体。 - 画像処理装置における画像処理方法であって、
移動体の周辺画像を取得するステップと、
前記周辺画像に対して、前記移動体の特定部位の前記移動体の進行方向についての進路軌跡を示す表示を、路面からの前記特定部位の高さに対応する位置に重畳するステップと、
前記周辺画像に含まれる前記移動体の進行方向に存在する障害物と、前記特定部位の進路軌跡とが接触する場合、前記進路軌跡を示す表示を変形させるステップと、を含む画像処理方法。
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JP2018203062A JP7088807B2 (ja) | 2018-10-29 | 2018-10-29 | 画像処理装置、カメラ、移動体および画像処理方法 |
US17/287,745 US11433810B2 (en) | 2018-10-29 | 2019-10-02 | Image processing apparatus, camera, moveable body, and image processing method |
EP19879385.3A EP3876214A4 (en) | 2018-10-29 | 2019-10-02 | IMAGE PROCESSING DEVICE, CAMERA, MOVING BODY AND IMAGE PROCESSING METHOD |
CN202310092021.XA CN116080530A (zh) | 2018-10-29 | 2019-10-02 | 图像处理装置、摄像头、移动体以及图像处理方法 |
PCT/JP2019/039011 WO2020090339A1 (ja) | 2018-10-29 | 2019-10-02 | 画像処理装置、カメラ、移動体および画像処理方法 |
CN201980069381.XA CN112912944B (zh) | 2018-10-29 | 2019-10-02 | 图像处理装置、摄像头、移动体以及图像处理方法 |
JP2022093947A JP7345601B2 (ja) | 2018-10-29 | 2022-06-09 | 画像処理装置、カメラ、移動体および画像処理方法 |
US17/817,888 US11924578B2 (en) | 2018-10-29 | 2022-08-05 | Image processing apparatus, camera, moveable body, and image processing method |
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JP2020071521A (ja) | 2020-05-07 |
EP3876214A1 (en) | 2021-09-08 |
CN116080530A (zh) | 2023-05-09 |
WO2020090339A1 (ja) | 2020-05-07 |
US11924578B2 (en) | 2024-03-05 |
EP3876214A4 (en) | 2022-08-03 |
CN112912944A (zh) | 2021-06-04 |
CN112912944B (zh) | 2023-02-21 |
JP2022137030A (ja) | 2022-09-21 |
US20220379809A1 (en) | 2022-12-01 |
US11433810B2 (en) | 2022-09-06 |
JP7345601B2 (ja) | 2023-09-15 |
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