Monitoring apparatus and method of displaying bird's-eye view image
First Claim
1. A monitoring apparatus comprising:
- at least one of fish-eye camera mounted on a moving body, to image a fish-eye image around the moving body;
a dewarping unit configured to convert at least part of the fish-eye image obtained by the fish-eye camera into a two-dimensional image using a dewarping parameter;
a conversion parameter calculation unit configured to calculate a conversion parameter for obtaining a bird'"'"'s-eye view image from the two-dimensional image, showing an image from a hypothetical position looking down on the moving body;
a bird'"'"'s-eye view image creation unit configured to create a bird'"'"'s-eye view image by sequentially fetching position data corresponding to each pixel of the bird'"'"'s-eye view image using the conversion parameter and the dewarping conversion parameter; and
a display device to display the bird'"'"'s-eye view image created by the image creation unit.
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Accused Products
Abstract
A monitoring apparatus for providing the driver with the image of blind-spot areas of a moving body. The monitoring apparatus includes: at least one of fish-eye camera mounted on a moving body, to image fish-eye image around the moving body; a dewarping unit configured to convert at least part of the fish-eye image obtained by the fish-eye camera into a two-dimensional image using a dewarping parameter; a conversion parameter calculation unit configured to calculate a conversion parameter for obtaining a bird'"'"'s-eye view image from the two-dimensional image, showing an image from a hypothetical position looking down on the moving body; a bird'"'"'s-eye view image creation unit configured to create a bird'"'"'s-eye view image by sequentially fetching position data corresponding to each pixel of the bird'"'"'s-eye view image using the conversion parameter and the dewarping conversion parameter; and a display device to display the bird'"'"'s-eye view image created by the image creation unit.
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Citations
12 Claims
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1. A monitoring apparatus comprising:
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at least one of fish-eye camera mounted on a moving body, to image a fish-eye image around the moving body;
a dewarping unit configured to convert at least part of the fish-eye image obtained by the fish-eye camera into a two-dimensional image using a dewarping parameter;
a conversion parameter calculation unit configured to calculate a conversion parameter for obtaining a bird'"'"'s-eye view image from the two-dimensional image, showing an image from a hypothetical position looking down on the moving body;
a bird'"'"'s-eye view image creation unit configured to create a bird'"'"'s-eye view image by sequentially fetching position data corresponding to each pixel of the bird'"'"'s-eye view image using the conversion parameter and the dewarping conversion parameter; and
a display device to display the bird'"'"'s-eye view image created by the image creation unit. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A surveillance apparatus, comprising:
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a plurality of fish-eye cameras mounted on a vehicle imaging fish-eye images around the vehicle;
a dewarping unit configured to dewarp at least parts of the fish-eye images into two-dimensional images using dewarping parameters;
a conversion parameter calculation unit configured to calculate conversion parameters for converting the two-dimensional images into bird'"'"'s-eye view images, each viewing from a hypothetical position looking down on the vehicle;
a bird'"'"'s-eye view image generating unit configured to generate bird'"'"'s-eye view images by sequentially calculating position data of a pixel in the fish-eye image corresponding to each pixel of the bird'"'"'s-eye view image using the conversion parameter obtained by the conversion parameter calculation unit and the dewarping parameter;
an image superposing unit configured to superpose the bird'"'"'s-eye view images into an superposed image; and
a display device to display the superposed image generated by the image superposing unit. - View Dependent Claims (8)
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9. A method of displaying a bird'"'"'s-eye view image, comprising steps of:
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storing a fish-eye image into a first memory showing surroundings of a movable body obtained using a fish-eye camera attached to the movable body;
performing calibration processing on part of the fish-eye image in advance and obtaining a group of image-conversion parameters to be used for converting the fish-eye image into a bird'"'"'s-eye view image for overlooking the movable body to store the parameters into a second memory; and
sequentially calculating an image-data position of the fish-eye image corresponding to each pixel data of the bird'"'"'s-eye view image using the group of image-conversion parameters of the second memory and sequentially fetching the image data from the first memory as pixel data of the bird'"'"'s-eye view image to supply to a display device. - View Dependent Claims (10)
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11. A method of converting an image for converting a fish-eye image obtained by a fish-eye camera mounted on a moving body into a bird'"'"'s-eye view image viewed from a hypothetically overlooking position of the moving body, comprising:
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obtaining a dewarping parameter for converting the fish-eye image into a dewarped image and a conversion parameter for converting the dewarped image into the bird'"'"'s-eye view, thereby storing parameters into a parameter file; and
calculating a pixel position in the fish-eye image corresponding to each pixel in the bird'"'"'s-eye view image using the dewarping parameter and the conversion parameter stored in the parameter file and sequentially fetching the pixel data of the fish-eye image and output as pixel data of the bird'"'"'s-eye view image. - View Dependent Claims (12)
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Specification