IMAGE PROCESSING DEVICE

• US 20200134777A1
• Filed: 03/05/2018
• Published: 04/30/2020
• Est. Priority Date: 09/15/2017
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Inventors: YAMAMOTO, Kinji
• Granted Patent: US 10,970,812 B2
• Time in Patent Office: Days
• 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 1/002 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like integrated in the windows B60R1/001; combined with rear-view mirrors B60R1/08
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 1/31 providing stereoscopic vision
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/207 using multi-purpose displays, e.g. camera image and navigation or video on same display
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: G06T 15/04 Texture mapping
• CPC Class Codes: G06T 19/20 Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
• CPC Class Codes: G06T 2219/2016 Rotation, translation, scaling
• CPC Class Codes: G06T 2219/2021 Shape modification
• CPC Class Codes: G06T 3/00 Geometric image transformations in the plane of the image
• CPC Class Codes: G06T 3/08 Projecting images onto non-planar surfaces, e.g. geodetic screens
• CPC Class Codes: G06T 3/40 Scaling of whole images or parts thereof, e.g. expanding or contracting
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

An image processing device according to an embodiment exemplarily includes, as an example: a processor that acquires a taken image obtained by imaging surroundings of a vehicle by an imaging unit mounted on the vehicle; projects the taken image to a stereoscopic projection plane including the vehicle and a first projection region rising above the vehicle and produces a composite image of the stereoscopic projection plane when viewed from a virtual viewpoint; causes a display to display the composite image; determines a target parking region in which the vehicle is parked in the stereoscopic projection plane; and shifts at least a part of a movement path of the vehicle from a position of the vehicle to the target parking region and the target parking region of the vehicle to a second projection region horizontal to the vehicle.

Claims

1. An image processing device, comprising:

a processor configured to;

acquire a taken image obtained by imaging surroundings of a vehicle by an imaging unit mounted on the vehicle;

project the taken image to a stereoscopic projection plane including the vehicle and a first projection region rising above the vehicle;

produce a composite image of the stereoscopic projection plane when viewed from a virtual viewpoint;

cause a display to display the composite image;

determine a target parking region in which the vehicle is parked in the stereoscopic projection plane; and

shift at least a part of a movement path of the vehicle from a position of the vehicle to the target parking region and the target parking region of the vehicle to a second projection region horizontal to the vehicle.

2. The image processing device according to claim 1, wherein

the first projection region is positioned around the second projection region,

the second projection region includes the vehicle, and

the processor enlarges the second projection region as a whole such that an end on a far side of the target parking region when viewed from the position of the vehicle is included in the second projection region.

3. The image processing device according to claim 1,

wherein the processor partially enlarges the second projection region such that only at least a part of the target parking region and the movement path in the first projection region is included in the second projection region.

4. The image processing device according to claim 1, wherein

the first projection region is positioned around the second projection region,

the second projection region includes the vehicle, and

the processor enlarges the second projection region such that an end on a far side of the target parking region when viewed from the position of the vehicle is included in the second projection region when an obstacle is absent around the target parking region, and partially enlarges the second projection region such that only a part of the target parking region and the movement path in the first projection region is included in the second projection region when an obstacle is present around the target parking region.

5. The image processing device according to claim 1, further comprising:

a storage that stores therein a first map associating coordinates in the stereoscopic projection plane with texture coordinates of the taken image projected to the coordinates and a second map associating coordinates in a planar surface projection plane, the planar surface projection plane being composed of a single projection plane horizontal to the vehicle, with the texture coordinates projected to the coordinates,

wherein the processor, when the target parking region is decided, overwrites a map associating coordinates of the movement path in the second projection region with the texture coordinates of the taken image projected to the coordinates, the map being included in the first map, on the second map associating coordinates of the movement path in the planar surface projection plane with the texture coordinates of the taken image projected to the coordinates, and projects the taken image to the stereoscopic projection plane in accordance with the first map.