Image processing system for mounting to a vehicle

• US 20060125679A1
• Filed: 11/15/2005
• Published: 06/15/2006
• Est. Priority Date: 11/26/2004
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: Omron Corporation
• Inventors: Horibe, Koji
• Granted Patent: US 7,176,830 B2
• Time in Patent Office: Days
• US Class Current: 342/52
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

An image processing system to be mounted to a vehicle includes a radar adapted to measure distance and direction to an object based on reflected electromagnetic waves which are outputted to scan the exterior of the vehicle, an image-taking device such as a camera for obtaining an image, and an image processor for carrying out image processing on a specified image processing area in an image obtained by the image-taking device. The image processor is adapted to determine a center position of the image processing area according to a measurement point of an object detected by the radar and the size of the image processing area according to a beam profile of electromagnetic waves outputted from the radar.

Claims

1. An image processing system for mounting to a vehicle, said image process comprising:

a radar adapted to measure distance and direction to an object outside said vehicle based on reflected electromagnetic waves which are outputted therefrom by scanning outside said vehicle;

an image-taking device which obtains an outside image of said vehicle; and

an image processor for carrying out image processing on a specified image processing area in an image obtained by said image-taking device;

wherein said image processor serves to determine a center position of said image processing area according to a measurement point of an object detected by said radar and the size of said image processing area according to a beam profile of electromagnetic waves outputted from said radar.

2. The image processing system of claim 1 wherein said image processor serves, when there are a plurality of measurement points that are close together with respect to the resolving power of said radar, to group together said plurality of measurement points as being associated with a single object and to join image processing areas individually associated with said measurement points as a single image processing area;

and

wherein said electromagnetic waves form a beam which has a cross-sectional shape of a circle or an ellipse and spreads with a spread angle that is smaller than the image angle of said image-taking device in all directions.

3. The image processing system of claim 1 wherein said image processor defines a plane which is parallel to the road surface supporting said vehicle, projects measurement points of the object detected by said radar onto said plane, determines a line by connecting two of the projected points on said plane, represents said line in an image-fixed coordinate system, limits a lower edge of said image processing area by said line represented in said image-fixed coordinate system and starts a raster scan of said image processing from a starting position adjacent to said line represented in said image-fixed coordinate system.

4. The image processing system of claim 2 wherein said image processor defines a plane which is parallel to the road surface supporting said vehicle, projects measurement points of the object detected by said radar onto said plane, determines a line by connecting two of the projected points on said plane, represents said line in an image-fixed coordinate system, limits a lower edge of said image processing area by said line represented in said image-fixed coordinate system and starts a raster scan of said image processing from a starting position adjacent to said line represented in said image-fixed coordinate system.

5. The image processing system of claim 1 wherein said image processor determines the size of said image processing area according to half-intensity positions where the beam intensity of electromagnetic waves outputted from said radar is one-half of the maximum intensity of said electromagnetic waves and reduces the size of said image processing area as the distance to said object detected by said radar increases.

6. The image processing system of claim 2 wherein said image processor determines the size of said image processing area according to half-intensity positions where the beam intensity of electromagnetic waves outputted from said radar is one-half of the maximum intensity of said electromagnetic waves and reduces the size of said image processing area as the distance to said object detected by said radar increases.

7. The image processing system of claim 3 wherein said image processor determines the size of said image processing area according to half-intensity positions where the beam intensity of electromagnetic waves outputted from said radar is one-half of the maximum intensity of said electromagnetic waves and reduces the size of said image processing area as the distance to said object detected by said radar increases.

8. The image processing system of claim 4 wherein said image processor determines the size of said image processing area according to half-intensity positions where the beam intensity of electromagnetic waves outputted from said radar is one-half of the maximum intensity of said electromagnetic waves and reduces the size of said image processing area as the distance to said object detected by said radar increases.

9. The image processing system of claim 1 wherein said image processor corrects the position of said image processing area according to the angle between the central axes of said radar and said image-taking device.

10. The image processing system of claim 2 wherein said image processor corrects the position of said image processing area according to the angle between the central axes of said radar and said image-taking device.

11. The image processing system of claim 3 wherein said image processor corrects the position of said image processing area according to the angle between the central axes of said radar and said image-taking device.

12. The image processing system of claim 4 wherein said image processor corrects the position of said image processing area according to the angle between the central axes of said radar and said image-taking device.

13. The image processing system of claim 1 wherein said image processor determines the shape of said image processing area as a rectangle that circumscribes or inscribes a circle or ellipse having the cross-sectional shape of the beam of electromagnetic waves outputted from said radar and identifies said image processing area by corner positions of two mutually diagonally located angles of said rectangle.

14. The image processing system of claim 2 wherein said image processor determines the shape of said image processing area as a rectangle that circumscribes or inscribes a circle or ellipse having the cross-sectional shape of the beam of electromagnetic waves outputted from said radar and identifies said image processing area by corner positions of two mutually diagonally located angles of said rectangle.

15. The image processing system of claim 3 wherein said image processor determines the shape of said image processing area as a rectangle that circumscribes or inscribes a circle or ellipse having the cross-sectional shape of the beam of electromagnetic waves outputted from said radar and identifies said image processing area by corner positions of two mutually diagonally located angles of said rectangle.

16. The image processing system of claim 4 wherein said image processor determines the shape of said image processing area as a rectangle that circumscribes or inscribes a circle or ellipse having the cross-sectional shape of the beam of electromagnetic waves outputted from said radar and identifies said image processing area by corner positions of two mutually diagonally located angles of said rectangle.