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 generates a transformed image from the input image by coordinate transformation such that a position of a characteristic point on the input image is transformed into a position of a reference point on the transformed image;
a parameter storage portion which stores an image transformation parameter that is based on the position of the characteristic point and the position of the reference point and used 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 via changing the position of the reference point so as to suppress presence of the image-missing region.
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Abstract
While extracting four feature points from a camera image obtained from a camera installed in a vehicle, an image processing device sets the positions of four reference points on an offset correction image to be generated from the camera image and performs a coordinate conversion based on a homography matrix so that the coordinate values of the four feature points are converted to the coordinate values of the four reference points. The image processing device sets each of the coordinate values so that an image center line and a vehicle center line are matched with each other on the offset correction image. The image processing device determines whether or not an image lacking area in which image data based on the image data of the camera image is not present is included within the entire area of the generated offset correction image. If the image lacking area is included, the two reference points or the four reference points are symmetrically moved in the left and right directions and the homography matrix is recalculated according to the positions of the reference points after the movement.
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Citations
9 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 generates a transformed image from the input image by coordinate transformation such that a position of a characteristic point on the input image is transformed into a position of a reference point on the transformed image; a parameter storage portion which stores an image transformation parameter that is based on the position of the characteristic point and the position of the reference point and used 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 via changing the position of the reference point so as to suppress presence of the image-missing region. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. 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 generating a transformed image from the input image by coordinate transformation such that a position of a characteristic point on the input image is transformed into a position of a reference point on the transformed image; a parameter storing step of storing an image transformation parameter that is based on the position of the characteristic point and the position of the reference point and used for transforming the input image into the transformed image; a loss detecting step of checking, by use of the image transformation parameter stored, 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 via changing the position of the reference point so as to suppress presence of the image-missing region.
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Specification