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

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Inventors: KAKINAMI, Toshiaki
• Application Number:
  US12/625,100
• Publication Number:
  US 20100134593A1
• Time in Patent Office: Days
• US Class Current: 348/43
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/102 using 360 degree surveillance camera system
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: G06T 15/205 Image-based rendering
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20224 Image subtraction
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/536 from perspective effects, e.g. by using vanishing points
• CPC Class Codes: G06T 7/55 from multiple images
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/586 of parking space

Abstract

A bird'"'"'s-eye image generating apparatus includes a first image receiving portion for receiving a first image, a second image receiving portion for receiving a second image at a second position, a first projective transforming portion for executing a projective transformation to the first image so as to be a first transformed image 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, a three-dimensional object range extracting portion for extracting a three-dimensional object range in which a three-dimensional object exists, and a projective distortion correcting portion for correcting the three-dimensional object range by compressing so as to be a second corrected image.

Claims

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.

2. The bird'"'"'s-eye image generating apparatus according to claim 1 further including a superimposing portion for masking a range in which a compressed image of the three-dimensional object does not exist in the three-dimensional object range with a color that is identical to a background color in the vicinity of the three-dimensional object range.

3. The bird'"'"'s-eye image generating apparatus according to claim 1 further including a superimposing portion for masking a range in which a compressed image of the three-dimensional object does not exist in the three-dimensional object range by applying a half tone process with warm color.

4. The bird'"'"'s-eye image generating apparatus according to claim 1 further including a superimposing portion for superimposing a warning on a range in which a compressed image of the three-dimensional object does not exist in the three-dimensional object range in order to informing an existence of the three-dimensional object to a user.

5. The bird'"'"'s-eye image generating apparatus according to claim 1, wherein the first projective transforming portion corrects the first transformed image to the first corrected image at the second position on the basis of a detection at a moving amount detecting portion for detecting a moving amount of the vehicle.

6. The bird'"'"'s-eye image generating apparatus according to claim 2, wherein the first projective transforming portion corrects the first transformed image to the first corrected image at the second position on the basis of a detection at a moving amount detecting portion for detecting a moving amount of the vehicle.

7. The bird'"'"'s-eye image generating apparatus according to claim 3, wherein the first projective transforming portion corrects the first transformed image to the first corrected image at the second position on the basis of a detection at a moving amount detecting portion for detecting a moving amount of the vehicle.

8. The bird'"'"'s-eye image generating apparatus according to claim 4, wherein the first projective transforming portion corrects the first transformed image to the first corrected image at the second position on the basis of a detection at a moving amount detecting portion for detecting a moving amount of the vehicle.

9. The bird'"'"'s-eye image generating apparatus according to claim 1, wherein the first projective transforming portion corrects the first transformed image to a first corrected image at the second position where the vehicle is distant from the first position in a predetermined direction by a predetermined distance, and the second image receiving portion receives the captured image, taken at a position where the vehicle reaches the second position, as the second image, on the basis of a detection at a moving amount detecting portion for detecting a moving amount of the vehicle.

10. The bird'"'"'s-eye image generating apparatus according to claim 2, wherein the first projective transforming portion corrects the first transformed image to a first corrected image at the second position where the vehicle is distant from the first position in a predetermined direction by a predetermined distance, and the second image receiving portion receives the captured image, taken at a position where the vehicle reaches the second position, as the second image, on the basis of a detection at a moving amount detecting portion for detecting a moving amount of the vehicle.

11. The bird'"'"'s-eye image generating apparatus according to claim 3, wherein the first projective transforming portion corrects the first transformed image to a first corrected image at the second position where the vehicle is distant from the first position in a predetermined direction by a predetermined distance, and the second image receiving portion receives the captured image, taken at a position where the vehicle reaches the second position, as the second image, on the basis of a detection at a moving amount detecting portion for detecting a moving amount of the vehicle.

12. The bird'"'"'s-eye image generating apparatus according to claim 4, wherein the first projective transforming portion corrects the first transformed image to a first corrected image at the second position where the vehicle is distant from the first position in a predetermined direction by a predetermined distance, and the second image receiving portion receives the captured image, taken at a position where the vehicle reaches the second position, as the second image, on the basis of a detection at a moving amount detecting portion for detecting a moving amount of the vehicle.