IMAGE PROCESSING DEVICE AND METHOD, DRIVING SUPPORT SYSTEM, AND VEHICLE
First Claim
1. An image processing device comprising:
- an image acquisition portion which acquires an input image based on a result of shooting by a camera shooting surroundings of a vehicle;
an image transformation portion which transforms, through coordinate transformation, the input image into a transformed image including a first constituent image as viewed from a first virtual camera and a second constituent image as viewed from a second virtual camera different from the first virtual camera;
a parameter storage portion which stores an image transformation parameter for transforming the input image into the transformed image;
a loss detection portion which checks, by use of the image transformation parameter stored in the parameter storage portion, whether or not, within an entire region of the transformed image obtained from the input image, an image-missing region is present where no image data based on image data of the input image is available; and
a parameter adjustment portion which, if the image-missing region is judged to be present within the entire region of the transformed image, adjusts the image transformation parameter so as to suppress presence of the image-missing region.
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Abstract
A driving support system performs a viewpoint conversion, generates, from a camera image obtained from an in-vehicle camera, an extended bird'"'"'s-eye view image corresponding to a synthesized image of first and second element images, and displays the generated image. The first element image is a bird'"'"'s-eye view image showing the condition around a vehicle. The second element image is a far image showing the condition far away from the vehicle. The extended bird'"'"'s-eye view image is obtained by converting the camera image to an image viewed from the viewpoint of a virtual camera. When the first and second element images are generated, the depression angles of the virtual camera are 90 degrees and 90 degrees or less, respectively. When the extended bird'"'"'s-eye view image is generated corresponding to the tilt angle or the like of an actual camera, it is automatically determined whether the lack of an image occurs or not. In the case where the lack of the image occurs, the position of the boundary between the first and second element images, the height of the viewpoint of the virtual camera, etc., are adjusted so that the lack disappears.
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Citations
10 Claims
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1. An image processing device comprising:
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an image acquisition portion which acquires an input image based on a result of shooting by a camera shooting surroundings of a vehicle; an image transformation portion which transforms, through coordinate transformation, the input image into a transformed image including a first constituent image as viewed from a first virtual camera and a second constituent image as viewed from a second virtual camera different from the first virtual camera; a parameter storage portion which stores an image transformation parameter for transforming the input image into the transformed image; a loss detection portion which checks, by use of the image transformation parameter stored in the parameter storage portion, whether or not, within an entire region of the transformed image obtained from the input image, an image-missing region is present where no image data based on image data of the input image is available; and a parameter adjustment portion which, if the image-missing region is judged to be present within the entire region of the transformed image, adjusts the image transformation parameter so as to suppress presence of the image-missing region. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An image processing method comprising:
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an image acquiring step of acquiring an input image based on a result of shooting by a camera shooting surroundings of a vehicle; an image transforming step of transforming, through coordinate transformation, the input image into a transformed image including a first constituent image as viewed from a first virtual camera and a second constituent image as viewed from a second virtual camera different from the first virtual camera; a parameter storing step of storing an image transformation parameter for transforming the input image into the transformed image; a loss detecting step of checking, by use of the stored image transformation parameter, whether or not, within an entire region of the transformed image obtained from the input image, an image-missing region is present where no image data based on image data of the input image is available; and a parameter adjusting step of adjusting, if the image-missing region is judged to be present within the entire region of the transformed image, the image transformation parameter so as to suppress presence of the image-missing region.
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Specification