M428101 五、新型說明： 【新型所屬之技術領域】 本創作係關於一種環車鳥瞰裝置，尤其是一種可藉由 車輛四周影像合成鳥瞰影像，用以輔助駕駛者進行各種駕 車狀況之環車鳥瞰裝置。 【先前技術】 §駕驶者馬致車輛（例如：倒車等）時，車輛四周I 產生視覺死角，容易讓駕駛者無法察覺該視覺死角範圍内 之行人或物品，不僅困擾駕駛者，亦有可能使車輛周圍之 行人發生危險。因此，逐漸發展出許多辅助駕車的裝置， 例如··超音波雷達或環車鳥瞰裝置等。 請參閱第1圖所示，中華民國公告第132〇756號「顯 示鳥瞰車輛影像的倒車雷達系統」’揭示一種習知環車鳥瞰 裝置9 ’包含數個魚眼鏡頭91、一行車電腦92及一螢幕 93，該魚眼鏡頭91係分散設置於一車輛V，用以拍攝該車 輛v之四周的景物影像；該行車電腦92讀取該具有魚眼 變形效果之景物影像（如第2a圖所示），並執行數個影像 處理手段，例如：變形校正（如第2b圖所示）、轉換及合 成等，將該景物影像合成為一鳥瞰車輛影像，並顯示於該 螢幕93。 / 然而’習知環車鳥瞰裝置9需經過多次視角及幾何轉 換運算，再經過影像合成運算，將四周的景物影像縫合， 方能產生該鳥瞰車輛影像，如此一來，將大幅增加產生該 鳥瞰車輛影像的運算量，使得產生該鳥瞰車輛影像所耗費 3 M428101 的時間延長。 基於上述原因，有必要提供一 將視角轉換及影像合成進行替運首碑鳥蛾裝置，可以 四周環境的影像’即可快速地產二:只要可以取得車柄 者作為各種駕車情⑽參考。4鳥瞰影像，供駕驶 【新型内容】 本創作之目的乃改良上述缺點， 裝置’係勒將視_奐及影像合⑽==環車鳥瞰 到快速地產生環車鳥峨影像之目的。u口運 為達到前述創作目的，本創作所運用之技術手段包含 算，而達 有 一種環車鳥酵:裝置，係用以設置 =;件:四周之數個環境影 -失考：二 _杈正模組、1徵標記選取模組、 人像建立模組、—平面投影轉換模組及-鳥瞰影像 口成換組’該變雜正齡触該 選取模組_該變職正㈣m 特徵& 承⑽ 亥參考影像建立模組及該 換模組，該鳥敵影像合成模_接該平面投影 合成ί ^及—顯示器’餘接該影像處理器之鳥峨影像 後、左、右方 其中’該取像元件設置於該車輔之 向的外表面。 " 其中，另包含-殼體，該影像處理器容納於該殼體之 内邛’該顯示器露出該殼體之表面。 —4 — M428101M428101 V. New Description: [New Technology Field] This creation is about a bird's-eye view device, especially a bird-riding bird's-eye view device that can be used to assist drivers in driving situations by synthesizing bird's-eye images from the surrounding images of vehicles. . [Prior Art] § When a driver causes a vehicle (for example, reversing, etc.), a visual dead angle is generated around the vehicle I, which makes it difficult for the driver to detect pedestrians or objects within the visual dead angle, which not only plagues the driver, but also makes it possible Pedestrians around the vehicle are in danger. Therefore, many devices for assisting driving have been gradually developed, such as an ultrasonic radar or a bird's-eye view device. Please refer to Figure 1 of the Republic of China Announcement No. 132〇756, "Reversing Radar System for Displaying Aerial View Vehicle Images", which discloses a conventional aerial view device 9' comprising a plurality of fisheye lenses 91, a row of computers 92 and a screen 93. The fisheye lens 91 is disposed in a vehicle V for capturing a scene image of the vehicle v. The driving computer 92 reads the scene image with a fisheye deformation effect (as shown in FIG. 2a). And performing a plurality of image processing means, for example, deformation correction (as shown in FIG. 2b), conversion and synthesis, and the like, and synthesizing the scene image into a bird's-eye view vehicle image and displaying it on the screen 93. / However, the 'Historical Vehicle Aerial View Unit 9 needs to undergo multiple viewing angles and geometric transformation calculations, and then through the image synthesis operation to stitch the surrounding scene images to generate the bird's-eye view vehicle image. As a result, the bird's-eye view vehicle will be greatly increased. The amount of calculation of the image is such that the time taken to generate the bird's-eye view of the vehicle is 3 M428101. For the above reasons, it is necessary to provide a conversion of the angle of view and image synthesis for the first monument of the bird moth, which can be used to quickly locate the real estate. 2: As long as the handle can be obtained as a reference for various driving situations (10). 4 Bird's-eye view image for driving [New content] The purpose of this creation is to improve the above-mentioned shortcomings. The device will look at the image of the car and the bird's eye. u mouth transport in order to achieve the above-mentioned creative purposes, the technical means used in this creation contains calculations, and there is a kind of ring car bird leaven: device, used to set =; pieces: several environmental shadows around - lost test: two _杈正模块, 1 mark selection module, portrait creation module, -planar projection conversion module and - bird's eye view image into a group of changes to the selection module _ the change of position (four) m features &; (10) Hai reference image creation module and the replacement module, the bird enemy image synthesis module _ connected to the plane projection synthesis ί ^ and - display 'after the image processor of the bird 峨 image, left and right 'The image taking element is disposed on the outer surface of the direction of the vehicle. " wherein, further comprising - a housing, the image processor is housed within the housing 邛' the display exposes the surface of the housing. —4 — M428101
的心泰▲處理器及該顯示器整合於該車輛之内部 的行車笔骗及顯示裝置。 列像處理純由频電路、可程式邏輯閘陣 且合所構成之數位影像處理器。八該影像處理祕由龍電路、可程式邏輯閘陣 日戦其组合所構紅數位影像處理卡。其中該影像處理器係由積體電路、可程式邏輯閘陣 列、tt財或其組合所構成之特殊功能積體電路。 ”，該f彡像處理H係由積體魏、可程式邏輯閘陣 列、石夕智財或其組合所構成之系統翠晶片。 其中，該影像處理器係由數位訊號處理器或微處理器 配合軟體縣法構成數位影像處理器。 -中該〜像處理器係gj定式或可拆卸式箱接該取像 元件。 【實施方式】The heart ▲ processor and the display are integrated into the vehicle's internal pen scam and display device. The column image processing is a digital image processor composed of a pure frequency circuit and a programmable logic gate array. Eight of this image processing secret dragon circuit, programmable logic gate array, the combination of the red digital image processing card. The image processor is a special function integrated circuit composed of an integrated circuit, a programmable logic gate array, a tt or a combination thereof. The image processing system H is a system chip composed of an integrated system, a programmable logic gate array, a Shi Xizhi, or a combination thereof. The image processor is a digital signal processor or a microprocessor. The digital image processor is configured in conjunction with the software county method. - The image processor gj is fixed or detachably connected to the image capturing device.
為讓本創作之上述及其他目 易I*董，下文特舉本創作之較佳實 作詳細說明如下： 的、特徵及優點能更明顯 施例，並配合所附圖式， ，創作全文所述之「輕接」（cGupling)，係指二硬體 模組（hardware module)之間藉由實體線路電性連接、益 線通訊或其組合等方式，使影像資料可以相互傳遞，或者，、 -軟體她（SGfWe mGdule)或倾·（她赠 間藉由資料存取歧料方式，使f彡像資料 ’用以進行影像處理，其詳細運作情形係本創作^傳 之 遞 屬技 叫'^〇Uj丄 術7員域中具有通常知識者可以理解。 ^請參閱第3圖所示，其係本創作環車鳥瞰裝置較佳實 苑例之系統方塊圖，該環車鳥瞰裝置係包含數個取像元件 1 —影像處理器2及一顯示器3，該取像元件1耦接該影 像處理器2，該顯示器3耦接該影像處理器2。 該取像元件1係由具有影像擷取功能之器材構成，例 如.具有魚眼鏡頭（flsh-eye iens)之攝影機（camera)等， k取像元件1可以分散設置於一車輛（Vehicie)之外表面， 例如：設於該車輛之前、後、左、右方向的外表面等，用 以取得該車輛之四周的影像（即數個環境影像），供駕駛者 做為駕車之參考’其中’該取像元件1之數量可以選擇為 4個或4個以上。在此實施例中，該取像元件丨係以4個 土有魚眼鏡頭之攝影機作為實施態樣，分別設於該車輛之 如保險桿、後保險桿，左後視鏡及右後視鏡，惟不以此為 限；該數個取像元件丨取得該車輛之四周的影像後，可以 產生數個具有,#、眼絲之觀縣，娜境雜具有數個 特徵標記。 該影像處理器2係由具有影像處理及儲存功能之器材 構成’例如：由積體電路（IC)、可程式邏輯閘陣列（FpGA)、 石夕智財（IP)或其組合所構成之數位影像處理器（出幽 image processor)、數位影像處理卡（digitai image 、 特殊功能積體電路（ASIC)❹統單晶# (SqC)等硬體 (hardware);或者，由數位訊號處理器（Dsp)或微處理 器（miCr〇-pro⑽0Γ)配合軟體演算法（通丽e咖碰㈤ 構成數位鱗處理料，該影像處理器2設置於該車輛之 6 M428101 内部，罔以將上述數個環境影像進行變形校正、特徵 選取、平面投影轉換及鳥瞰影像合成等運算，而形成: 車^⑽,Seyeview)影像。在此實施例中，該影像^ 理态2係以數個積體電路構成數位影 樣說明，惟不以此為限。 請縣閱第3圖所示，其中，該影像處理器2包含一 勃校正杈組21、一特徵標記選取模組η、一表考 立模組23、一平面投影轉換模組24及-鳥瞰影像I t 25，該變形校正模組21減該取像科丨 己 選取模組22 _該變形校 組23及該平面投影轉 該參考衫像建立模 耦接料面·^鐘:^、、 該鳥瞰影像合成模組25 稱接斜面^轉換模組24及該顯示器3。 請再參閱第3及4圖所示，其中，第4圖 你 影^處理器的運作流程圖，包含一變形校正步驟2 徵b己選取步驟S2、一平面投影轉換步驟 忠 ==該變形校正步驟S1係由該變形校= 向該取像轉丨取得該數個環境影像 德 校正為未變形之校正影像。舉例而言，以設於該 之=兀件1所掏取的環境影像為例，如第^圖所示' 眼效果之環境影像E1具有C1，至C4,等4個^ 記’經由該變形校正握έ 〗铲 寺徵才示 傻Γ如當1 後，形成未變形之校正影 技術領域具麵常知識者可㈣解，作所屬 請再參閱第3、4及6圖所示’第6圖係本創作之鳥 7 M428101 瞰參考影像的示意圖，苴中， 由該參考影像建立模組23產;^標記選取步驟S2係先 參考影像B可以藉由攝影機拍= 式，形成數個（例如：4xn個躡，會圖軟體賴方 ㈣。在此實施例中，該烏嗽參^她触 ㈣個特徵標記。接著，再:2像形成C1至C16 該烏暇參考影像B及各/特徵標記選取模組22從 〒办像及各校正影像（例如 之取像元件1所擷取的環境景 ；5><刖 · a. ^ 〜象）依序t取至少四組相應 至C4與該校正影像R1之特徵標記^，至 徵桿記。在此竇;^丨由/寺才與其校正影像之特 1汐C4與該校正影像R1之特徵標記ci 施態樣説明。 作馬只 請再參閱第3、4及7圖所示，第7圖係本創作 面技影轉制，射，料面投料換 該平面投影轉換模組24依據該細參考影像b及該^ 影像R1之相應特徵標記的座標計算該校正影像 ^ 瞰參考影抑时_換_值，其計算 至（6)所示： 、如下式（1) ~xw~ _α b c~ X YW — “ f y w g h l 1 W = gx-\-hy-{-\ (1) (2) (3) M428101In order to make the above and other items of this creation easy, I will give you a detailed description of the preferred implementation of the following: The features, advantages and advantages can be more obvious, and with the drawings, the full text will be created. The term "cGupling" refers to the way in which the image data can be transferred to each other by means of physical connection, benefit line communication or a combination thereof between the two hardware modules. -Software (SGfWemGdule) or dumping (she gives a way to access the image by means of data access, so that the image data is used for image processing, and the detailed operation is the technique of the creation of the book. ^〇Uj丄 7 7 员 员 员 ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ The image capturing device 1 is coupled to the image processor 2, and the image capturing device 1 is coupled to the image processor 2. The image capturing device 1 is provided with an image. Take the function of the equipment composition, for example. with a fisheye lens Flsh-eye iens) camera, etc., k image taking element 1 can be dispersedly disposed on the outer surface of a vehicle (Vehicie), for example, on the outer surface of the front, rear, left and right directions of the vehicle, etc. In order to obtain an image of the surroundings of the vehicle (ie, several environmental images), the driver may use the reference device as the reference for the driving. The number of the image capturing elements 1 may be selected to be four or more. In this embodiment, The image taking device is implemented by four cameras with a fisheye lens, and is disposed on the vehicle such as a bumper, a rear bumper, a left rearview mirror and a right rearview mirror, but this is not The image capturing device 2 has a plurality of characteristic marks, and the image processor 2 has an image. Equipment for processing and storage functions 'for example: digital image processor consisting of integrated circuit (IC), programmable logic gate array (FpGA), Shi Xi Zhi Cai (IP) or a combination thereof , digital image processing card (digitai image, Special function integrated circuit (ASIC) 单晶 system single crystal # (SqC) and other hardware (hardware); or, by digital signal processor (Dsp) or microprocessor (miCr〇-pro (10) 0 Γ) with software algorithm (Tongli The e-touch (5) constitutes a digital scale processing material, and the image processor 2 is disposed inside the 6 M428101 of the vehicle, and performs operations such as deformation correction, feature selection, plane projection conversion, and bird's-eye image synthesis on the plurality of environmental images. Form: car ^ (10), Seyeview) image. In this embodiment, the image 2 state is represented by a plurality of integrated circuits to form a digital image, but not limited thereto. Please refer to FIG. 3, wherein the image processor 2 includes a Bob correction group 21, a feature marking module η, a meter test module 23, a plane projection conversion module 24, and a bird's eye view. The image correction module 21 reduces the image selection module 22 _ the deformation correction group 23 and the plane projection to the reference shirt image to establish a mode coupling material surface ^^: The bird's-eye view image synthesis module 25 is connected to the slope conversion module 24 and the display 3. Please refer to the 3rd and 4th drawings, in which the operation flow chart of the image processor of Fig. 4 includes a deformation correction step 2, the selection step S2, a plane projection conversion step, the faith correction == the deformation correction In step S1, the plurality of environmental images are corrected to the undeformed corrected image by the deformation correction=to the image capture. For example, taking the environmental image captured by the component 1 as an example, as shown in FIG. 2, the environmental image E1 of the eye effect has C1, to C4, and the like 4 via the deformation. Correction Grip 〗 铲 寺 征 征 才 才 才 才 才 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺 寺The figure is a schematic diagram of the reference picture of the bird 7 M428101. In the middle, the reference image is created by the module 23; the mark selection step S2 is the first reference image B can be formed by the camera to form several (for example) : 4xn 蹑, will map the software to the square (4). In this embodiment, the 嗽 嗽 她 ^ she touched (four) feature marks. Then, again: 2 like the formation of C1 to C16 the black 暇 reference image B and each / feature The mark selection module 22 takes at least four groups corresponding to C4 from the image and each corrected image (for example, the environment scene captured by the image capturing element 1; 5 ><刖· a. ^ ~ image) The characteristic image of the corrected image R1 is marked by ^, to the sinus. In this sinus; ^ 丨 / / 寺 and its corrected image special 1 汐 C4 and the corrected image R 1 The characteristic mark ci The description of the situation. For the horse, please refer to the figures 3, 4 and 7 again. The 7th picture shows the technical transformation of the creative surface, the shot, the material surface is replaced by the plane projection conversion module 24 The corrected image is calculated according to the coordinate of the fine reference image b and the corresponding feature mark of the image R1, and the value is calculated as (6): (1) ~ xw~ _α bc~ X YW — “ fywghl 1 W = gx-\-hy-{-\ (1) (2) (3) M428101
Y a b c" X d e f y _g h 1 1 - X [g h l] y 1 _ Υ _ ax + by+ c ''^h^\=aX + by + c'-SXx-hXy= 〇x +紗+ c-(W + 〇e + 0/ —~—办办 y — dx H~ cy + ~f =Z~^]^T = dx + ey + ^'SYx-hYy= 0a + 〇b + 〇c + xd + ye + f-rxg~ryh 2 少1 1 0 0 0 Ά 为/ ο ο Ο X, ^ 1 少2 1 Ο Ο Ο -X2y2 • ° 0 χ2 Λ 1 ~Y2y2 -Y2y2 (4) (5) χη Ο 1 ο Ο χ Ο Ο yn ι 入χη a b c A d = y2 e 1 f xn S_ Λ_ (6) ~ΥηΧη ~Ynyn 其中 ’（Xi，yi)、（x2，y2)、...、（Xn，yn)為該校正影像 Ri之特徵標記的影像平面座標（imageplanec〇〇rdinate); 31>、〇、(!4、£*及§為轉換係數；（^1)、（1，¥2)、、 (xn，yn)為該鳥瞰參考影像B之特徵標記的世界平面座標 (world plane coordinate) 〇 0 ^ ,B的不_鄕記财陳蝴以 門平面轉換關係值’得知該校正 :=之間的影像B的相對應位置。換言之，藉㈣參考 不同特徵標記與不同校正影像幻的特徵標:二： —9 — 知關係’即可將視角轉換及影像合成併為單—關係式。 睛再參閱第3、4及8 _示，第8 _本創作 2瞰影像的示意圖，其中，該鳥_像合成步驟s4係由 =暇树合成馳25依據該平面轉換_值將各校正 ^ . Rl、R2、R3、R4投影至一目標影像的相應位置 德^各校正影像幻、R2、R3、R4分別投影至該目標$ 影像T t'左、右邊（依圖面而言），而合成該環車鳥陬 八2，&之，砂該鳥轉考影像之特徵標記位置係 =對應各kJL影像之特徵標記位置，例如：特徵標記ο ^對應該校正影像R1之特徵標記、特徵標記ο至 j應该校正影像R2.之特徵標記、特徵標記c9至d2對鹿 =枚正影像R3之特徵標記、特徵標記至⑽對應二 Μ之細票記，因此，經由各校正影像與該‘ ，影像依序進行平面轉換運算後，即可將各校正影像 丁的Γ、德=R4的像素料直接投影至該環車鳥嗽影像 右邊（依圖面而言），因此，各校正影像 環車鳥2峨SC的像素投影位置適當組合’即可取得該 功3圖所示，該顯示器3係由具有影像顯示 钟構成，例如：觸控鮮或液晶螢幕等，該顯矛 ;3:置於該車輛之内部，用以顯示該環車鳥畈影像，： 駕驶者硯看而作為駕車時之參考資訊 ^其中?該顯示器; y以由絲輛所具備之顯示裝置構成。在此實施例中， ‘·具不Is 3係以—液晶§幕作為實施態樣。 此外本創作環車鳥嗽裝置還可以設有一殼體（圖未 該殼體可可由金屬或歸等硬性材料製斜空殼體， 處理==影像處理器2及該顯示器3,使該影像 體之i面。㈠之Γ ’並使該顯示器3露出該殼 定/ 該影像處理器2與該取像元件1可為固 像料υ _織線連接像處理n 2與該取 該影像處理器;==:利用插頭與插座連接 理哭2及^ 件）。因此，透過將該影像處 二：裔3設置於該殼體的技術手段，可以使該 ^理盗2及該顯示器3形成—個可播帶式裝置。。 車烏瞰裝置於使用時’該數個取像元件i係 前保險桿、後保險桿，左後視鏡及右後視鏡 2弟8圖所示）。該影像處理器2及該顯示器3則設置於 〜車輛之内部’該影像處理器2及該顯示器3可以整合於 ^車輛之内部的行車電腦及顯示裝置，或藉由該殼體而構 成該:攜帶式裝置。當該數個取像元件i取得該車輛之四 周的被境影像後’該影像處理器2可利用各環境影像與該 鳥敵參考影像之相對應特徵標記進行平面轉換，並投影至 該目標影像的相應位置，而合成該環車鳥瞰影像，達到供 駕駛者作為各種駕車情況的參考之目的。 藉由前揭之技術手段，本創作所揭示之環車鳥瞰裝置 的主要特點列舉如下： 本創作環車鳥瞰袭置係藉由該數個取像元件丨取得該 車輛之四周的環境影像後，該影像處理器2可利用各環境 影像與該鳥瞰參考影像之相對應特徵標記進行平面轉換， 並投影至該目標影像的相應位置，而合成該環車鳥瞰影 =。相較於習知環車純裝置，本案僅f利用該烏吸參考 影像之特徵標記，即可將視角轉換及影像合成併為單二關 ，式，而不需經過多次視角、幾何轉換運算及影像合成運 异，如此一來，將大幅減少產生該烏瞰車輛影像的運算量， 而快速地產生該環車鳥瞰影像，以供駕駛者作為各^駕車 f月況的參考’為本創作之功效。 雖然本創作已利用上述較佳實施例揭示，然其並非用 以限定本創作，任何熟習此技藝者在不脫離本創作之精神 和範圍之内，相對上述實施例進行各種更動與修改仍屬本 創作所保護之技術範疇，因此本創作之保護範圍當視後附 之申請專利範圍所界定者為準。 【圖式簡單說明】 第1圖·習知環車鳥瞰裝置之系統示意圖。 第2a圖：習知環車鳥瞰裝置之魚眼變形示意圖。 苐2b圖.習知環車鳥蛾裝置之變形校正示意圖。 第3圖：本創作環車鳥瞰裝置較佳實施例之系統方塊圖。 第4圖：本創作環車烏瞰裝置之影像處理器的運作流程 圖。 第5a圖.本創作環車烏釀裝置之環境影像的示意圖。 第5b圖：本創作環車鳥微裝置之校正影像的示意圖。 第6圖：本創作環車鳥瞰裝置之鳥眼參考影像的示意圖。 第7圖：本創作環車鳥瞰裝置之平面投影轉換的示意圖。 弟？圖.本創作環車鳥瞰裝置之環車鳥瞰影像的示意圖。 —12 — M428101Y ab c" X defy _g h 1 1 - X [ghl] y 1 _ Υ _ ax + by+ c ''^h^\=aX + by + c'-SXx-hXy= 〇x + yarn + c-( W + 〇e + 0/ —~—do y — dx H~ cy + ~f =Z~^]^T = dx + ey + ^'SYx-hYy= 0a + 〇b + 〇c + xd + ye + f-rxg~ryh 2 Less 1 1 0 0 0 Ά is / ο ο Ο X, ^ 1 Less 2 1 Ο Ο Ο -X2y2 • ° 0 χ2 Λ 1 ~Y2y2 -Y2y2 (4) (5) χη Ο 1 ο Ο χ Ο Ο yn ι 入 χ abc A d = y2 e 1 f xn S_ Λ_ (6) ~ΥηΧη ~Ynyn where '(Xi,yi), (x2,y2),...,(Xn,yn) The image plane coordinates (imageplanec〇〇rdinate) of the feature image of the corrected image Ri; 31>, 〇, (!4, £*, and § are conversion coefficients; (^1), (1, ¥2), Xn,yn) is the world plane coordinate 〇0 ^ of the feature mark of the bird's-eye reference image B, and B's not 鄕 鄕 陈 陈 以 以 以 以 以 得知 得知 得知 得知 得知 得知The corresponding position of the image B. In other words, by (iv) referring to different feature marks and different corrected image illusion features: two: -9 - know the relationship 'to convert the angle of view and The image is synthesized and is single-relational. The eye is further referred to in Figures 3, 4 and 8 _, the 8th _ the creation of a schematic image of the 2 vertices, wherein the bird _ image synthesis step s4 is composed of = eucalyptus synthesis 25 The plane conversion_value projects each correction ^. Rl, R2, R3, R4 to a corresponding position of a target image, and each of the corrected image phantoms, R2, R3, and R4 are respectively projected to the target $ image T t 'left and right (According to the drawing), and synthesize the ring car 陬 2 2 2 , , , , , 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 该 特征 特征 特征 特征 特征The feature mark of the image R1 should be corrected, the feature mark ο to j should be corrected for the feature mark of the image R2. The feature mark c9 to d2 should be marked with the feature mark of the deer = positive image R3, and the feature mark to the fine mark of the corresponding mark of (10) Therefore, after each of the corrected images and the image are sequentially converted into planes, the pixel material of each corrected image can be directly projected onto the right side of the ring bird image (according to the image) In terms of), therefore, the pixel projection position of each corrected image ring bird 2峨SC The appropriate combination can be used to obtain the work. The display 3 is composed of an image display clock, such as a touch-sensitive or liquid crystal screen, and the like; the display is placed inside the vehicle for The image of the car cockroach is displayed, which is used as a reference information for driving when the driver looks at it. The display is composed of a display device provided by the wire. In this embodiment, the ‘·Is not the Is 3 system is used as the liquid crystal § screen. In addition, the present invention can also be provided with a casing (the casing can be made of metal or a hard material made of a slanted casing, and the image processor 2 and the display 3 are processed to make the image body i). (1) Γ 'and expose the display 3 to the housing / the image processor 2 and the imaging element 1 can be a solid image _ _ woven line connection image processing n 2 and the image processor ;==: Use the plug to connect with the socket to cry 2 and ^). Therefore, by means of the technical means for placing the image on the casing 3, the pirate 2 and the display 3 can be formed into a playable device. . When the vehicle is in use, the several image capturing elements i are the front bumper, the rear bumper, the left rearview mirror and the right rearview mirror. The image processor 2 and the display 3 are disposed in the interior of the vehicle. The image processor 2 and the display 3 can be integrated into a driving computer and a display device inside the vehicle, or can be constructed by the housing: Portable device. After the plurality of image capturing elements i obtain the image of the surroundings of the vehicle, the image processor 2 can perform plane conversion using the corresponding image of each environment image and the reference image of the bird enemy, and project to the target image. The corresponding position, and the aerial view of the car is synthesized to achieve the purpose of the driver as a reference for various driving situations. The main features of the aerial bird's-eye view device disclosed in the present disclosure are as follows: The bird's-eye view of the creation of the car is obtained by taking the image capturing components around the vehicle and obtaining the environmental image of the surroundings of the vehicle. The image processor 2 can perform plane conversion by using corresponding image marks of the environment image and the bird's-eye reference image, and projecting to corresponding positions of the target image to synthesize the bird's-eye view shadow=. Compared with the conventional ring-carriage device, this case can only use the feature mark of the black-sucking reference image to convert the angle of view and image into a single-two-off mode without multiple viewing angles, geometric transformation operations and images. Synthetic and different, so as to greatly reduce the amount of calculations that produce the image of the vehicle, and quickly generate a bird's-eye view of the car, for the driver to use as a reference for the driving situation of the car . Although the present invention has been disclosed by the above-described preferred embodiments, it is not intended to limit the present invention, and it is still within the spirit and scope of the present invention to make various changes and modifications to the above embodiments. The technical scope of the protection is created, so the scope of protection of this creation is subject to the definition of the patent application scope attached. [Simple description of the drawing] Fig. 1 is a schematic diagram of a system of a conventional bird's-eye view device. Figure 2a: Schematic diagram of the fisheye deformation of the conventional bird's-eye view device.苐 2bFig. Schematic diagram of the deformation correction of the conventional bird moth device. Figure 3 is a block diagram of a system of a preferred embodiment of the present invention. Figure 4: The operational flow chart of the image processor of the creation of the car. Figure 5a. Schematic diagram of the environmental image of the creation of the mulberry device. Figure 5b: Schematic diagram of the corrected image of the creation of the bicycle bird micro-device. Figure 6: Schematic diagram of the bird's eye reference image of the present bird's-eye view device. Figure 7: Schematic diagram of the plane projection conversion of the bird's-eye view device of the present creation. younger brother? Fig. Schematic diagram of a bird's-eye view of the ring car of this creative car. —12 — M428101
【主要元件符號說明】 〔本創作〕 1 取像元件 2 影像處理器 21 變形校正模組 22 特徵標記選取模組 23 參考影像建立模組 24 平面投影轉換模組 25 鳥瞰影像合成模組 3 顯示器 B 鳥瞰參考影像 C1 特徵標記 C2 特徵標記 C3 特徵標記 C4 特徵標記 C5 特徵標記 C6 特徵標記 C7 特徵標記 C8 特徵標記 C9 特徵標記 CIO 特徵標記 C11 特徵標記 C12特徵標記 C13 特徵標記 C14特徵標記 C15 特徵標記 C16特徵標記 CV 特徵標記 C2, 特徵標記 C3, 特徵標記 C2, 特徵標記 E1 環境影像 R1 校正影像 R2 校正影像 R3 校正影像 R4 校正影像 S1 變形校正步驟 S2 特徵標記選取步驟 S3 平面投影轉換步驟 S4 鳥瞰影像合成步驟 T 環車鳥瞰影像 〔習知〕 —13 — M428101 9 習知環車鳥瞰裝置 91 92 行車電腦 93 魚眼鏡頭 螢幕[Main component symbol description] [This creation] 1 Image capture component 2 Image processor 21 Distortion correction module 22 Feature mark selection module 23 Reference image creation module 24 Plane projection conversion module 25 Bird's eye image synthesis module 3 Display B Bird's-eye view reference image C1 Feature mark C2 Feature mark C3 Feature mark C4 Feature mark C5 Feature mark C6 Feature mark C7 Feature mark C8 Feature mark C9 Feature mark CIO Feature mark C11 Feature mark C12 Feature mark C13 Feature mark C14 Feature mark C15 Feature mark C16 feature Mark CV feature mark C2, feature mark C3, feature mark C2, feature mark E1 environment image R1 corrected image R2 corrected image R3 corrected image R4 corrected image S1 distortion correction step S2 feature mark selection step S3 plane projection conversion step S4 bird's eye view image synthesis step Aerial view of T-ring car [知知] —13 — M428101 9 A bird's-eye view of a conventional car 91 92 Driving computer 93 Fisheye lens