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BIRD'S-EYE IMAGE GENERATING APPARATUS

  • US 20100134593A1
  • Filed: 11/24/2009
  • Published: 06/03/2010
  • Est. Priority Date: 11/28/2008
  • Status: Abandoned Application
First Claim
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1. A bird'"'"'s-eye image generating apparatus comprising:

  • a first image receiving portion for receiving a first captured image as a first image taken by a camera at a first position, the camera mounted to a vehicle in order to capture a vehicle periphery;

    a second image receiving portion for receiving a second captured image as a second image taken by the camera at a second position where the vehicle is moved from the first position by a moving amount;

    a first projective transforming portion for executing a projective transformation to the first image so as to be a first transformed image that is an image seen from above in a vertical direction and for correcting the first transformed image so as to be a first corrected image at the second position;

    a second projective transforming portion for executing the projective transformation to the second image so as to be in a second transformed image that is an image seen from above in the vertical direction;

    a three-dimensional object range extracting portion for extracting a three-dimensional object range in which a three-dimensional object exists, on the basis of a difference between the first corrected image and the second transformed image, so as to be in a trapezoidal shape in which two unparallel sides are positioned so as to be crossed at an optical center when seen from above in the vertical direction; and

    a projective distortion correcting portion for correcting an image corresponding to the three-dimensional object range by compressing toward the optical center so as to be a second corrected image.

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