IMAGE PROCESSING APPARATUS AND IMAGE PROCESSING METHOD

• US 20150356735A1
• Filed: 11/05/2013
• Published: 12/10/2015
• Est. Priority Date: 01/30/2013
• Status: Active Grant

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: YAMADA, Masahiro, SAWADA, Yasuyoshi, HAYASHIDA, Takumi, MATSUOKA, Azusa, FUJIOKA, Minoru, SHIDOCHI, Yuka, ESAKA, Toshinori, SHIMIZU, Kenta, OKADA, Naoyuki
• Granted Patent: US 10,328,866 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2300/101 using cameras with adjustable capturing direction
• 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 2300/304 using merged images, e.g. merging camera image with stored images
• CPC Class Codes: B60R 2300/402 Image calibration
• CPC Class Codes: B60R 2300/602 with an adjustable viewpoint
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: G06F 18/22 Matching criteria, e.g. proximity measures
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 2200/24 involving graphical user interfaces [GUIs]
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: G06T 7/97 Determining parameters from multiple pictures depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

An image processing apparatus for processing an image according to one embodiment includes a generating unit, a display control unit, and a change receiving unit. The display control unit generates a synthetic image providing a view of a vehicle from a virtual viewpoint, based on a plurality of onboard camera images. The display control unit displays the generated synthetic image on a display unit. The change receiving unit receives a change in the relative positional relation between an image region that is based on one of the camera images and image regions that are based on the other camera images in the synthetic image. The generating unit generates a synthetic image, based on a changed positional relation every time a change in the positional relation is received.

Claims

1. An image processing apparatus for processing an image, the image processing apparatus comprising:

a generating unit that generates a synthetic image providing a view of a vehicle from a virtual viewpoint, based on a plurality of onboard camera images;

a display control unit that displays the generated synthetic image on a display unit; and

a change receiving unit that receives a change in a relative positional relation between an image region that is based on one of the camera images and image regions that are based on the other camera images in the synthetic image, wherein

the generating unit generates the synthetic image, based on a changed positional relation every time a change in the positional relation is received.

2. The image processing apparatus according to claim 1, further comprising an indicator superimposing unit that superimposes an indicator on a predetermined fixed position in the synthetic image, the indicator overlapping with a marker provided at a predetermined position with respect to the vehicle in the synthesis image, when a relative position between the vehicle and the marker in the synthetic image is matched with a relative position between the vehicle and the marker.

3. The image processing apparatus according to claim 1, further comprising a display enlarging unit that enlarges, when a position is selected in the synthetic image displayed on the display unit, a part of the synthetic image including the position, and displays the enlarged part on the display unit.

8. The image processing apparatus according to claim 2, further comprising a display enlarging unit that enlarges, when a position is selected in the synthetic image displayed on the display unit, a part of the synthetic image including the position, and displays the enlarged part on the display unit.

4. An image processing method comprising:

generating a synthetic image providing a view of a vehicle from a virtual viewpoint, based on a plurality of onboard camera images;

displaying the generated synthetic image;

receiving a change in a relative positional relation between an image region that is based on one of the camera images and image regions that are based on the other camera images in the synthetic image; and

generating the synthetic image, based on a changed positional relation every time a change in the positional relation is received.

5. The image processing method according to claim 4, wherein

a first marker having a certain shape is positioned within angles of view of two onboard cameras that are adjacently disposed along an outer periphery of the vehicle on a parking plane on which the vehicle is parked, the image processing method further comprising

changing the relative positional relation and generating the synthetic image so that the first marker in the synthetic image forms the certain shape.

6. The image processing method according to claim 4, wherein

a second marker is positioned at a predetermined position with respect to the vehicle on a parking plane on which the vehicle is parked, the image processing method further comprising:

superimposing an indicator at a predetermined fixed position in the synthetic image in a manner overlapping with the marker when a relative position between the vehicle and the second marker in the synthetic image is matched with a relative position between the vehicle and the second marker; and

changing the synthetic image so that the second marker and the superimposed indicator overlap in the synthetic image.

9. The image processing method according to claim 5, wherein

a second marker is positioned at a predetermined position with respect to the vehicle on a parking plane on which the vehicle is parked, the image processing method further comprising:

superimposing an indicator at a predetermined fixed position in the synthetic image in a manner overlapping with the marker when a relative position between the vehicle and the second marker in the synthetic image is matched with a relative position between the vehicle and the second marker; and

changing the synthetic image so that the second marker and the superimposed indicator overlap in the synthetic image.

7. An image processing apparatus for processing an image, the image processing apparatus comprising:

a generating unit that generates a synthetic image providing a view of a vehicle from a virtual viewpoint, based on a single onboard camera image;

a display control unit that displays the generated synthetic image on a display unit; and

a change receiving unit that receives a change in a relative positional relation between a frame-shaped indicator displayed at a predetermined position in the synthetic image and a marker represented in the synthetic image, wherein

the generating unit generates the synthetic image, based on a changed positional relation every time a change in the positional relation is received.