Integrated vision system

• US 20010048763A1
• Filed: 05/30/2001
• Published: 12/06/2001
• Est. Priority Date: 05/30/2000
• Status: Abandoned Application

• Current Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Original Assignee: Fuji Heavy Industries Limited (Subaru Corp.)
• Inventors: Suzuki, Tatsuya, Okada, Hiroshi, Takatsuka, Takeshi
• Application Number:
  US09/866,773
• Publication Number:
  US 20010048763A1
• Time in Patent Office: Days
• US Class Current: 382/154
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: H04N 13/15 for colour aspects of image signals
• CPC Class Codes: H04N 13/156 Mixing image signals
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/257 Colour aspects
• CPC Class Codes: H04N 13/279 the virtual viewpoint locations being selected by the viewers or determined by tracking
• CPC Class Codes: H04N 13/289 Switching between monoscopic and stereoscopic modes
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 13/344 with head-mounted left-right displays
• CPC Class Codes: H04N 13/346 using prisms or semi-transparent mirrors
• CPC Class Codes: H04N 13/361 Reproducing mixed stereoscopic images; Reproducing mixed monoscopic and stereoscopic images, e.g. a stereoscopic image overlay window on a monoscopic image background
• CPC Class Codes: H04N 13/373 for tracking forward-backward translational head movements, i.e. longitudinal movements
• CPC Class Codes: H04N 13/376 for tracking left-right translational head movements, i.e. lateral movements
• CPC Class Codes: H04N 13/38 for tracking vertical translational head movements
• CPC Class Codes: H04N 13/383 for tracking with gaze detection, i.e. detecting the lines of sight of the viewer's eyes
• CPC Class Codes: H04N 19/597 specially adapted for multi-view video sequence encoding
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

An integrated vision system is disclosed. Images of outside area are taken by at least one stereo-camera installed in a vehicle. A pair of images taken by the stereo-camera are processed by a stereo-image recognizer for recognition of objects that are obstacles to the front, thus generating obstacle data. Integrated view data including three-dimensional view data are generated by an integrated view data generator based on the pair of images and the obstacle data. The integrated view data are displayed by an integrated image display as visible images to crew on the vehicle.

Claims

1. An integrated vision system comprising:

at least one stereo-camera installed in a vehicle for taking images of predetermined outside area;

a stereo-image recognizer for processing a pair of images taken by the stereo-camera to recognize objects that are obstacles to the front, thus generating obstacle data;

an integrated view data generator for generating integrated view data including three-dimensional view data based on the pair of images taken by the stereo-camera and the obstacle data from the stereo-image recognizer; and

an integrated image display for displaying the integrated view data as visible images to crew on the vehicle.

2. The integrated vision system according to

claim 1

, wherein the integrated view data generator adds peripheral wide-area view data to the three-dimensional view data.

3. The integrated vision system according to

claim 1

, wherein the integrated view data generator includes a head mount display for overlapping the visible images of the integrated vision data and actual view.

4. The integrated vision system according to

claim 1

, wherein the integrated vision data generator is capable of removing the three-dimensional vision data from the integrated vision data.

5. The integrated vision system according to

claim 1

, wherein the stereo-camera includes two infrared cameras arranged as separated from each other by a distance corresponding to a specific base line.

6. The integrated vision system according to

claim 1

further comprising at least a first stereo-camera, a second stereo-camera and a third stereo camera, the first stereo camera being an infrared camera, the second stereo camera being a milli-wave camera and the third stereo camera being an intensifier, the first, the second and the third stereo-cameras being selectively used in accordance with actual views.