Image processing apparatus and image processing method

• US 10,315,570 B2
• Filed: 07/30/2014
• Issued: 06/11/2019
• Est. Priority Date: 08/09/2013
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Wang, Bingchen, Matsumoto, Muneaki
• Primary Examiner(s): Perungavoor, Sathyanaraya V
• Assistant Examiner(s): Dang, Philip P.
• Application Number:
  US14/910,464
• Publication Number:
  US 20160176344A1
• Time in Patent Office: 1,777 Days
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 5/80 Geometric correction
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04N 23/63 by using electronic viewfinders
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 23/80 Camera processing pipelines; Components thereof
• CPC Class Codes: H04N 5/2628 Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation

Abstract

An image processing apparatus extracts, as a display image, a part of an image captured by a wide angle camera, the wide angle camera being arranged at a position deviated from a vehicle center line that is a center line of a vehicle in a longitudinal direction and being configured to increase a degree of size reduction of an object as being farther from a center of the captured image. The image processing apparatus includes a control circuit that extracts the display image. The control circuit includes an extraction determination portion. The extraction determination portion determines an extraction position of the display image in the captured image according to a center position of the display image to the vehicle center line and the degree of size reduction of the object represented at a pixel of a specific position in the display image.

Claims

1. An image processing apparatus that extracts a display image from a portion of an image captured by a wide angle camera, the wide angle camera being offset from a vehicle center line in a longitudinal direction, the wide angle camera causing a degree of size reduction of an object displayed within a captured image by the wide angle camera, the degree of size reduction of the object increasing as a distance between the object and a center of the captured image increases, the image processing apparatus comprising:

a control circuit that extracts the display image from the captured image,

wherein;

the control circuit includes an extraction determination portion,

the extraction determination portion determines an extraction position of the display image within the captured image according to a distance of a center position of the display image from the vehicle center line and the degree of size reduction of the object,

the center position of the display image is located as close as possible to the vehicle center line in a horizontal direction,

the degree of size reduction of the object is represented by a reduction in size of a pixel at a specific position within the display image, and the reduction in size of the pixel is equal to or less than a first predetermined value,

the extraction determination portion determines the extraction position of the display image within the captured image according to a state of an appearance of a subject vehicle in the display image, and

the extraction determination portion determines the extraction position of the display image within the captured image, and a ratio of the appearance of the subject vehicle within the display image is equal to or less than a second predetermined value.

2. The image processing apparatus according to claim 1, wherein:

the first predetermined value is less than the degree of size reduction of the object when the center position of the display image coincides with the vehicle center line.

3. The image processing apparatus according to claim 1, wherein:

the pixel at the specific position is located at an end of a vehicle center line side within the display image.

4. The image processing apparatus according to claim 3, wherein:

the pixel at the specific position is located at an end among pixels located at the end of the vehicle center line side.

5. The image processing apparatus according to claim 4, wherein:

the pixel at the specific position is located at an end of a bumper side of a subject vehicle in the captured image.

6. The image processing apparatus according to claim 1, further comprising:

a distortion correction portion that performs distortion correction of the captured image.

8. The image processing apparatus according to claim 1, wherein:

the specific position in the display image is fixed at a set position.

7. An image processing method that extracts a display image from a portion of an image captured by a wide angle camera, the wide angle camera being offset from a vehicle center line in a longitudinal direction, the wide angle camera causing a degree of size reduction of an object displayed within a captured image by the wide angle camera, the degree of size reduction of the object increasing as a distance between the object and a center of the captured image increases, the image processing method comprising:

an extraction determination step that determines an extraction position of the display image within the captured image according to a distance of a center position of the display image from the vehicle center line and the degree of size reduction of the object; and

a distortion correcting step that performs distortion correction of the captured image, wherein;

the center position of the display image is located as close as possible to the vehicle center line in a horizontal direction,

the degree of size reduction of the object is represented by a reduction in size of a pixel at a specific position within the display image, and the reduction in size of the pixel is equal to or less than a first predetermined value,

the extraction determination step determines the extraction position of the display image within the captured image according to a state of an appearance of a subject vehicle in the display image, and

the extraction determination step determines the extraction position of the display image within the captured image, and a ratio of the appearance of the subject vehicle within the display image is equal to or less than a second predetermined value.

9. An image processing apparatus that extracts a display image from a portion of an image captured by a wide angle camera, the wide angle camera being offset from a vehicle center line in a longitudinal direction, the wide angle camera causing a degree of size reduction of an object displayed within a captured image by the wide angle camera, the degree of size reduction of the object increasing as a distance between the object and a center of the captured image increases, the image processing apparatus comprising:

a control circuit that extracts the display image from the captured image,

wherein;

the control circuit includes an extraction determination portion,

the extraction determination portion determines an extraction position of the display image within the captured image according to a distance of a center position of the display image from the vehicle center line and the degree of size reduction of the object,

the center position of the display image is located as close as possible to the vehicle center line in a horizontal direction,

the degree of size reduction of the object is represented by a reduction in size of a pixel at a specific position within the display image, and the reduction in size of the pixel is equal to or less than a first predetermined value,

the extraction determination portion determines appearance rate of the subject vehicle, the appearance rate being a ratio of an appearance of the subject vehicle within the display image, and

the extraction determination portion determines the extraction position in the display image within the captured image so that the appearance rate of the subject vehicle is equal to or less than a second predetermined value.