OBSTACLE DETECTION DISPLAY DEVICE

• US 20110249153A1
• Filed: 01/19/2010
• Published: 10/13/2011
• Est. Priority Date: 01/20/2009
• Status: Active Grant

• Current Assignee: Clarion Co., Ltd. (Faurecia SA)
• Original Assignee: Clarion Co., Ltd. (Faurecia SA)
• Inventors: Hirooka, Shinichiro, Chiba, Hiroshi
• Granted Patent: US 8,792,039 B2
• Time in Patent Office: Days
• US Class Current: 348/241
• CPC Class Codes: B60R 2300/307 virtually distinguishing relevant parts of a scene from the background of the scene
• CPC Class Codes: G06T 5/80 Geometric correction
• 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: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 5/2628 Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
• CPC Class Codes: H04N 5/272 Means for inserting a foreground image in a background image, i.e. inlay, outlay

Abstract

An obstacle detection display device, for enabling to display the information of a result of image recognition at high accuracy, at high speed and without position error of shift, even for an image photographed by a wide-angle camera, is constructed with: an image pickup means; an image correcting means for executing geometrical correction upon a video signal outputted from the image pickup means through image processing, and thereby outputting it; an image recognizing means for detecting object information by executing image processing on the video signal outputted from the image correcting means; a display information producing means for determining display information and display position in the video signal, to be presented to a user, being superimposed on the video signal, which is outputted by the image pickup means, upon basis of the object information detected by the image recognizing means, and thereby outputting them; and a display information superimposing means for superimposing the display information outputted by the display information producing means upon the video signal outputted from the image pickup means, upon basis of the display information outputted by the display information producing means. The display information producing means executes correction calculation upon the display position, by taking an error of positions on the video signal, between the video signal outputted by the image correcting means and the video signal outputted from the image pickup means, into the consideration thereof, when determining the display position of the display information to be superimposed on the video signal outputted by the image pickup means.

Claims

1. An obstacle detection display device, comprising:

an image pickup means having a lens;

an image correcting means for executing geometrical correction upon a video signal having distortion, which is outputted by said image pickup means, and thereby outputting it therefrom;

an image recognition means for detection an obstacle and object information thereof, by executing video processing on the video signal corrected on the distortion thereof, which is outputted by said image correcting means;

a display information producing means for determining display information, including a frame for use of emphasizing display, to be presented to a user being superimposed on the video signal having the distortion, which is outputted by said image pickup means, and position for displaying said display information in the video signal having the distortion therein, upon basis of the object information detected by said image recognition means, and thereby outputting them therefrom; and

a display information superimposing means for superimposing the display information, which is outputted by said display information producing means, on the video signal having the distortion, which is outputted by said image pickup means, upon basis of the display position outputted by said display information producing means, and thereby outputting them therefrom, wherein

said display information producing means executes correction calculation upon said display information including the frame for the emphasizing display, by taking a position error of said obstacle, between the video signal corrected on the distortion thereof, which is outputted by said image correcting means, and the video signal having the distortion, which is outputted by said image pickup means, into consideration, when determining the display position of the display information including the frame for use of the emphasizing display, to be superimposed on the video signal having the distortion, which is outputted by said image pickup means.

2. The obstacle detection display device, as described in the claim 1, wherein said image pickup means having the lens are provided in plural numbers thereof.

3. The obstacle detection display device, as described in the claim 1, wherein said image correcting means comprises a display image correcting means for executing the geometrical correction on the video signal having the distortion, which is outputted by said image pickup means, thereby outputting it as an image for use of display therefrom, and a recognition image correcting means for executing the geometrical correction on the video signal having the distortion, which is outputted by said image pickup means, with a degree higher than that executed by said display image correcting means, thereby outputting an image for use of recognition therefrom, wherein said image recognition means executes the video processing on the image for use of recognition from said recognition image correcting means, so as to detect the obstacle and the object information thereof, and said display information superimposing means outputs the display information including the frame for the emphasizing display, which is outputted by said display information producing means, superimposing it upon the image for use of display from said display image correcting means.

4. The obstacle detection display device, as described in the claim 1, wherein correction information to be used when executing the geometrical correction upon the video signal having the distortion, which is outputted by said image pickup means, within said image correcting means is same to correction information to be used when executing the correction calculation upon the display position of said display information within said display information producing means.

5. The obstacle detection display device, as described in the claim 1, wherein correction information to be used when executing the geometrical correction upon the video signal having the distortion through video processing, which is outputted by said image pickup means, within said image correcting means, is different from correction information to be used when executing the correction calculation upon the display position of said display information within said display information producing means are same correction information.

6. The obstacle detection display device, as described in the claim 4, wherein the correction calculation is executed upon the display positions of all pixels to be superimposed, upon basis of said correction information, when said display information producing means executes the correction calculation upon the display positions of the display information including the frame for the emphasizing display.

7. The obstacle detection display device, as described in the claim 5, wherein

the correction calculation is executed upon the display positions of representative pixels among the pixels to be superimposed, upon basis of said correction information, while determining the display positions for other pixels through an interpolation, when said display information producing means executes the correction calculation upon the display positions of the display information including the frame for the emphasizing display.

8. An obstacle detection display device, comprising:

a first image pickup means having a lens;

a second image pickup means having a lens;

an image correcting means for executing geometrical correction upon a video signal having distortion, which is outputted by said first image pickup means, and a video signal having distortion, which is outputted by said second image pickup means, respectively, and thereby outputting them as a stereo video signal therefrom;

a stereo image recognition means for detection an obstacle and 3-dimentional object information thereof, by executing video processing upon the stereo video signal corrected on the distortion thereof, which is outputted by said image correcting means;

a display information producing means for determining display information, including a frame for use of emphasizing display, to be presented to a user being superimposed on the video signal having the distortion, which is outputted by said first image pickup means, or on the video signal having the distortion, which is outputted by said second image pickup means, and a display position of said display information in the video signal having the distortion therein, upon basis of the 3-dimensional object information detected by said image recognition means, and thereby outputting them therefrom; and

a display information superimposing means for superimposing the display information, which is outputted by said display information producing means, on the video signal having the distortion, which is outputted by said first image pickup means, or on the video signal having the distortion, which is outputted by said second image pickup means, upon basis of the display position outputted by said display information producing means, and thereby outputting them therefrom, wherein

said display information producing means executes correction calculation upon said display information including the frame for the emphasizing display, by considering a position error of said obstacle, between the video signal corrected on the distortion thereof, which is outputted by said image correcting means, and the video signal having the distortion, which is outputted by said first image pickup means or outputted by said second image correcting means, when determining the display position of the display information including the frame for use of the emphasizing display, to be superimposed on the video signal having the distortion, which is outputted by said first image pickup means or by said second image pickup means.

9. An obstacle detection display device, comprising:

an image pickup means having a lens;

a display image correcting means for executing geometrical correction upon the video signal, which is outputted by said image pickup means, and thereby outputting an image for use of display thereform;

a recognition image correcting means for executing the geometrical correction on the video signal having the distortion, which is outputted by said image pickup means, with a degree higher than that executed by said display image correcting means, thereby outputting an image for use of recognition therefrom;

an image recognition means for detecting an obstacle and object information thereof, by executing image processing upon the video signal corrected on the distortion thereof, which is outputted by said recognition image correcting means;

a display information producing means for determining display information, including a frame for use of emphasizing display, to be presented to a user being superimposed on the video signal having the distortion, which is outputted by said image pickup means, and position for displaying said display information in the video signal having the distortion therein, upon basis of the object information detected by said image recognition means, and thereby outputting them therefrom; and

a display information superimposing means for superimposing the display information including the frame for use of the emphasizing display, which is outputted by said display information producing means, on the video signal having the distortion, which is outputted by said image pickup means, upon basis of the display position outputted by said display information producing means, and thereby outputting them therefrom, wherein

said display information producing means executes correction calculation upon the display position of said display information, by taking a position error of said obstacle, between the video signal corrected on the distortion thereof, which is outputted by said recognition image correcting means, and the video signal corrected on the distortion thereof, which is outputted by said display image pickup means, into consideration, when determining the display position of the display information, including the frame for use of the emphasizing display, to be superimposed on the video signal corrected on the distortion thereof, which is outputted by said display image correcting means.