KR101614247B1 - Apparatus for displaying image matching region of panorama image - Google Patents

Apparatus for displaying image matching region of panorama image Download PDF

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Publication number
KR101614247B1
KR101614247B1 KR1020150070416A KR20150070416A KR101614247B1 KR 101614247 B1 KR101614247 B1 KR 101614247B1 KR 1020150070416 A KR1020150070416 A KR 1020150070416A KR 20150070416 A KR20150070416 A KR 20150070416A KR 101614247 B1 KR101614247 B1 KR 101614247B1
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South Korea
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image
images
degree
synthesized
joint surface
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KR1020150070416A
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Korean (ko)
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류춘우
박재홍
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주식회사 와이즈오토모티브
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2622—Signal amplitude transition in the zone between image portions, e.g. soft edges
    • H04N5/23238—
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/265—Mixing

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Image Processing (AREA)
  • Studio Devices (AREA)

Abstract

An object of the present invention is to provide a device for displaying a junction surface of a panoramic image which calculates the degree of mismatch between junctions in which a plurality of images overlap each other and enlarges an arbitrary image region when the mismatch degree is high. To this end, according to the present invention, there is provided an apparatus for displaying a contact surface of a panoramic image, comprising: a plurality of cameras for photographing a periphery of a vehicle; A panorama image forming a joint surface is formed in a region where arbitrary first image, second image and third image overlap each other from a plurality of images captured by the plurality of cameras, and a degree of discrepancy of the joint surfaces is calculated A control unit for dividing the joint surface and zooming in on an overlapping area in any one of the first to third images and outputting a synthesized panoramic image if the mismatch degree is higher than a preset reference value for mismatch determination; ; And a display unit for displaying a panorama image output by the control unit. Therefore, according to the present invention, the degree of discrepancy of the joints synthesized in the plurality of images is calculated, and if the degree of discrepancy is high, the arbitrary image area is enlarged and displayed to display the distortion of the discordant area and the disappearance of the object There is an advantage that it can be improved.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus and method for displaying a panoramic image,

More particularly, the present invention relates to an apparatus for displaying a joint surface of a panoramic image, and more particularly, to a joint surface display apparatus for a panoramic image, And more particularly to a joint surface display apparatus for a panoramic image.

BACKGROUND ART Generally, as a means for safe driving of a vehicle, a side mirror installed on a side door for securing a view of a rear side of a vehicle, a room mirror installed on a roof lining of a vehicle interior for securing a rear view of the vehicle room mirror.

Such a mirror can grasp the side and rear situation up to a certain level, but it may also cause a blind spot that is not visible by the mirror, which is insufficient for recognizing the rear situation, and the object or person is located in such blind spot May cause serious damage to the vehicle as well as damage to persons.

In order to prevent accidents occurring in the blind spot in the rear of the vehicle, a rear surveillance camera for rear surveillance is installed in the vehicle, and the image of the rear of the vehicle is displayed on the screen through a navigation device or a separate display device. However, there are many proposals for a rear-view surveillance system that allows the driver to recognize the situation of the rear of the vehicle accurately and to ensure safe driving.

However, since the conventional back-up surveillance system mounted on the vehicle needs to use a separate display device for displaying the back-up surveillance image, there is a disadvantage in that a separate cost is incurred by the display device, And has a disadvantage that it adversely affects the aesthetics of the vehicle.

There has been proposed a method of displaying a rear monitoring image by utilizing a room mirror, which is indispensably provided in a vehicle, in order to solve the drawbacks that arise in a rearview monitoring system mounted on an existing vehicle as is well known.

BACKGROUND ART [0002] Conventional techniques for rearward monitoring video display using a room mirror are disclosed in Korean Patent Application Publication No. 10-2002-0009711 (entitled: (Hereinafter, referred to as " technology 1 ") and Korean Patent Registration No. 10-0792933 (entitled " Automobile Room Mirror and Rear Detection System Including the Same " .

The prior art 1 discloses a rearview device for watching a rear state of a vehicle or a sky wave broadcast in accordance with a driving condition of the vehicle through a room mirror provided in a vehicle interior to remove a blind spot in a rear view, Thereby eliminating the inconvenience caused by the mounting.

The disclosed prior art 2 is composed of a room mirror housing, a half mirror installed on the front surface of the room mirror housing, a display panel provided on the rear surface of the half mirror and having a permanent magnet, and an electromagnet corresponding to the permanent magnet, So that the driver can easily look at the rear screen when backing up, thereby preventing an accident and preventing damage to the vehicle.

However, such conventional techniques merely display an image input through a rear camera, and when two or more images are synthesized and output, there is a problem that accurate image output is difficult due to image distortion.

In addition, there is a problem that objects included in the joint surface disappear in the course of synthesis.

1. Korean Patent Application Publication No. 10-2002-0009711 (entitled: Image Implementation Device Using Room Mirror) 2. Registered Patent Registration No. 10-0792933 of the Korean Intellectual Property Office (Title: Automobile Room Mirror and Rear Detection System Including the Same)

In order to solve such problems, the present invention provides a joint surface display device for a panoramic image, which calculates a mismatch degree of a junction where mutually overlapping regions are synthesized in a plurality of images and enlarges and displays an arbitrary image region if the mismatch degree is high .

According to an aspect of the present invention, there is provided an apparatus for displaying a joint surface of a panoramic image, comprising: a plurality of cameras for photographing a periphery of a vehicle; A panorama image forming a joint surface is formed in a region where arbitrary first image, second image and third image overlap each other from a plurality of images captured by the plurality of cameras, and a degree of discrepancy of the joint surfaces is calculated A control unit for dividing the joint surface and zooming in on an overlapping area in any one of the first to third images and outputting a synthesized panoramic image if the mismatch degree is higher than a preset reference value for mismatch determination; ; And a display unit for displaying a panorama image output by the control unit.

The control unit may further include: a video input unit receiving first through third images to be combined among a plurality of images captured by the camera; An image synthesizer for synthesizing a panoramic image formed by joining the first and second images in a region where the first and second images overlap each other; A mismatch degree calculator for calculating a mismatch degree of the joint surface in the synthesized panorama image; And comparing the calculated mismatch degree with a predetermined reference value for mismatch determination, and if the mismatch degree is larger than the reference value, dividing the mismatched surface, And an image correcting unit for outputting a panoramic image synthesized on the joint surface.

According to another aspect of the present invention, the first image and the second image are images in which only a part of the image is overlapped, and the third image is an image including a region in which the first and second images overlap.

In addition, the zoom-in according to the present invention is characterized in that overlapping regions included in an image of either the first image or the second image are synthesized.

Also, the zoom-in according to the present invention is characterized in that a third image including overlapping regions of the first and second images is synthesized.

Further, the image correction unit according to the present invention is characterized in that when the degree of discrepancy is smaller than a reference value, a panoramic image including the joint surface is output.

The mismatch degree according to the present invention may be a value obtained by calculating at least one deviation of hue and contrast by comparing a third image including the overlapping area among the synthesized junction plane and the input image as a reference image, The sum value of the deviation of the pixel value of the image positioned on the left side and the right side of the junction or the sum value of the deviation of the pixel value of the image located on the upper side and the lower side, And an edge value appearing as an edge filter in the joint region, based on the difference between the intensity of the image positioned on the left side and the intensity difference value on the image positioned on the right side or the intensity difference value of the image positioned on the upper side and the lower side.

According to the present invention, it is possible to calculate the degree of discrepancy of the joints in which the regions overlapping each other in a plurality of images are calculated and enlarge and display an arbitrary image region if the degree of discordance is high to improve the distortion of the discordant region and the disappearance of the object There is an advantage to be able to do.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing a configuration of an apparatus for displaying a junction plane of a panoramic image according to the present invention. Fig.
2 is a block diagram showing a configuration of a control unit of a device for displaying a junction plane of a panoramic image according to the present invention.
3 is a view illustrating an image synthesizing process of a device for displaying a joint surface of a panoramic image according to the present invention.
4 is a view illustrating another example of a process of synthesizing an image of a joint surface of a panoramic image according to the present invention.
FIG. 5 is a view showing an image before combining the apparatus for displaying a joint surface of a panoramic image according to the present invention. FIG.
6 is a view illustrating an image after combining using a device for displaying a junction surface of a panoramic image according to the present invention.
7 is a view illustrating another example of a process of synthesizing an image of a joint surface of a panoramic image according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, a preferred embodiment of a device for displaying a joint surface of a panoramic image according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram showing a configuration of a bonding surface display apparatus for a panoramic image according to the present invention, and FIG. 2 is a block diagram showing a configuration of a control unit of a bonding surface display apparatus for a panoramic image according to the present invention.

As shown in FIGS. 1 and 2, a joint surface display apparatus for a panoramic image according to the present invention includes a plurality of cameras 110, 120, 130 and 140 installed in a vehicle and photographing the surroundings, a control unit 150, And a display unit 160.

The plurality of cameras 110, 120, 130, and 140 may include a first camera 110 for photographing the left side of the vehicle, a second camera 120 for photographing the right side of the vehicle, A camera 130, and a fourth camera 140 for photographing the front side of the vehicle.

The first camera 110 is installed on the left side mirror of the vehicle, and outputs a first image 210 of the left side and the rear side of the vehicle.

The second camera 120 is installed on a right side mirror of the vehicle and outputs a second image 220 of the right and rear sides of the vehicle.

The third camera 130 is installed in the center or upper part of the vehicle to photograph the rear of the vehicle and preferably photographs a part of the first and second images 210 and 220, So that a wide angle of view can be formed.

The fourth front camera 140 is installed in a room mirror (not shown) or the like and outputs an image of the front of the vehicle.

The first to fourth cameras 110, 120, 130, and 140 may be a camera using a photographing element such as a CMOS sensor or a CCD sensor. However, the present invention is not limited thereto and any photographable element may be used.

The control unit 150 controls the first image 210, the second image 220, and the third image 220, which are objects of composition from a plurality of images captured by the first to fourth cameras 110, 120, 130, 240) are superimposed on each other, and the degree of inconsistency of the joint surface (230) is calculated. When the degree of inconsistency is higher than a preset reference value for inconsistency determination, A configuration for separating the joint surface 230 and outputting a panoramic image obtained by zooming in on an overlapping area in any one of the first to third images 210, 220, and 240, An image combining unit 152, a mismatch degree calculating unit 153, and an image correcting unit 154. The input unit 151, the image combining unit 152,

The image input unit 151 receives the first through third images 210, 220, and 240 for the panoramic image synthesis from the plurality of images captured by the first through fourth cameras 110, 120, 130, and 140 .

The image combining unit 152 may use the first and second images 210 and 220 for combining the panoramic image among the first through third images 210, 220 and 240 input to the image input unit 151 And combines the panoramic image 200 in which the joint surface 230 is formed in the overlapping area.

3, the image composing unit 152 synthesizes the first image 210 and the second image 220 to synthesize the panoramic image 200. At this time, the first and second images 210, 220 in the region overlapping each other.

The first image 210 and the second image 220 are images in which only a part of the area is overlapped and are images of the left and right rear sides of the vehicle and the third image 240 is an image of the first and second images 210, and 220 are superimposed on each other and include a part of the region overlapping the first and second images 210 and 220, respectively.

In addition, the image synthesizer 152 may extract parameters for distortion correction, homography between adjacent images, and the like through the image correction program stored in the image input unit 151, Image, perspective-adjusted image, and the like.

In particular, in the case of the third camera 130 outputting a rear image, a lens having a large angle of view such as a wide angle lens (or a fish-eye lens) is installed.

The inconsistency calculator 153 calculates the degree of inconsistency of the joint surface 230 in the panoramic image 200 synthesized by the image composition unit 152. [

The degree of inconsistency is determined by comparing the combined image 230 and the third image 240 including the overlapping area 230 and the overlapped area from the input image as a reference image, Is a color deviation value calculated between the surface 230 and the comparison area of the third image 240, or a deviation value of the contrast.

It can be determined that the synthesis is good as the color deviation or the card deviation is small.

The degree of discrepancy may be a color deviation value calculated between the synthesized bonding surface 230 and the comparison area of the third image 240 or may be calculated by subtracting the pixel value of the overlapping area, And it can be determined that the degree of inconsistency increases as the size value increases.

The degree of discrepancy may be a sum value obtained by calculating the sum of deviations of pixel values of images located on the left and right sides of the joint surface 230 or a sum of deviations of pixel values of images located on the upper and lower sides of the joint surface And it can be determined that the degree of inconsistency increases as the sum value increases.

The degree of discrepancy may be a difference value obtained by subtracting a color from an image positioned on the left and right sides of the joint to reduce the problem of hue, or a difference between the intensities obtained by subtracting a color from an image positioned on the upper and lower sides of the joint And it can be determined that the greater the difference value, the greater the degree of inconsistency.

The degree of discrepancy may be a value obtained by calculating an edge value represented by an edge filter in a joint region, and it may be determined that the degree of discrepancy of the joint increases when the edge value is large.

The image correction unit 154 compares the mismatch degree of the mismatched surface 230 calculated by the mismatch degree calculation unit 153 with a preset reference value for mismatch determination and if the mismatch degree is larger than the reference value, And zooms in an area overlapping each other in any one of the first to third images 210, 220, and 240 to output a panoramic image synthesized on the joint surface 230.

The zoom-in part splits the joint surface 230 to eliminate the occurrence of a double image in which an object disappears on a joint surface, a square is generated, or an object appears as two objects when the degree of discrepancy is larger than a reference value, By allowing the third image 240 to be synthesized, such as placing the magnifying glass in the area containing the overlapping areas of the two images 210 and 220, the area can be seen better.

That is, as shown in FIG. 4, the panoramic image 200 in which the joint surface between the first image 210 and the second image 220 is separated and the third image 240 is synthesized in the region is generated.

5 and 6 are views illustrating images before and after the composite surface display apparatus of a panoramic image according to the present invention. When a first image 210 and a second image 220 are synthesized, ), A part of the object disappears.

At this time, a missing object or an obstacle can be seen by separating the bonding surface 230 and synthesizing a third image including the area of the bonding surface 230.

In addition, if the mismatch degree is larger than the reference value, the zoom-in may be combined with the second image 220 'so that one side of the overlap region 210'a of the first image 210' The panoramic image 200 'may be provided.

Although a part of the first image 210 'is expanded and overlapped in the present embodiment, it is also possible to synthesize the panoramic image 200' by overlapping and synthesizing a part of the second image 220 ..

Also, the image correcting unit 154 may output the panoramic image 200 including the joint surface 230 if the degree of inconsistency is smaller than the reference value.

The display unit 160 is configured to display a panoramic image 200 output from the control unit 150 and includes display means such as an LCD and is preferably installed in a room mirror of the vehicle 200 to be displayed Let's do it.

Therefore, by calculating the degree of inconsistency of the junctions in which the regions overlapping each other in the plurality of images are calculated and if the degree of inconsistency is high, the arbitrary image region is enlarged and displayed to improve the distortion of the inconsistent region and the disappearance of the object .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. It can be understood that

In the course of the description of the embodiments of the present invention, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation, , Which may vary depending on the intentions or customs of the user, the operator, and the interpretation of such terms should be based on the contents throughout this specification.

100: display device
110: First camera
120: Second camera
130: Third camera
140: Fourth camera
150:
151:
152:
153: inconsistency calculator
154: image correction unit
160:
200, 200 ': Panoramic image
210, 210 ': first image
220, 220 ': Second image
230:
240: Third image

Claims (7)

A plurality of cameras (110, 120, 130, 140) for photographing the periphery of the vehicle;
The first image 210, the second image 220 and the third image 240 are superimposed on each other from a plurality of images captured by the plurality of cameras 110, 120, 130, (230) is formed, and the degree of inconsistency of the bonding surface (230) is calculated. When the degree of inconsistency is higher than a predetermined reference value for inconsistency determination, the bonding surface (230) A controller 150 for outputting a panoramic image obtained by zooming in on an overlapping area of any one of the first to third images 210, 220, and 240 and synthesizing the panoramic image; And
And a display unit (160) for displaying the panoramic image output by the controller (150). The method according to claim 1,
The control unit 150 includes an image input unit 151 receiving the first through third images 210, 220, and 240 to be composited among a plurality of images captured by the cameras 110, 120, 130, and 140;
A panoramic image 200 in which a joint surface 230 is formed in an area where the first and second images 210 and 220 are overlapped among the first to third images 210, 220 and 240 is synthesized An image combining unit 152;
A mismatch degree calculator 153 for calculating a mismatch degree of the joint surface 230 in the synthesized panorama image 200; And
If the degree of discrepancy is larger than the reference value, the joining surface 230 is divided, and the first to third images 210, 220, And an image correcting unit (154) for zooming in areas overlapping each other in any one of the images of the panoramic image (240) and outputting the panoramic image synthesized on the joint surface (230). 3. The method of claim 2,
Wherein the first image (210) and the second image (220) are images that overlap only a part of the region, and the third image (240) is an image including an overlapping region of the first and second images A joint surface display device for an image. The method of claim 3,
Wherein the zoom-in causes the overlap area included in the image of either the first image (210) or the second image (220) to be synthesized. The method of claim 3,
Wherein the zoom in causes the third image (240) including the overlapped area of the first and second images (210, 220) to be synthesized. 3. The method of claim 2,
Wherein the image correcting unit (154) outputs the panoramic image (200) including the joint surface (230) when the degree of inconsistency is smaller than a reference value. The method according to claim 1,
Wherein the mismatch degree is a value obtained by calculating at least one deviation between hue and contrast by comparing a third image including the overlapping area among the synthesized junction plane and the input image as a reference image, And the sum of the deviations of the pixel values of the images located on the upper and lower sides, the sum of the deviations of the pixel values of the images located on the left and right sides of the junction, Wherein the at least one of the brightness difference value of the image located at the upper side and the lower side and the edge value represented by the edge filter at the junction region is calculated.
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KR101868057B1 (en) * 2017-01-20 2018-06-18 재단법인대구경북과학기술원 Method for generating panoramic image and apparatus thereof
KR20190056292A (en) * 2017-11-16 2019-05-24 엑시스 에이비 Method, device and camera for blending a first and a second image having overlapping fields of view
KR20200137214A (en) * 2019-05-29 2020-12-09 현대모비스 주식회사 Apparatus and method for evaluating a surround-view image for a vehicle

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