Method of processing images photographed by plural cameras and apparatus for the same

• US 8,009,868 B2
• Filed: 02/27/2007
• Issued: 08/30/2011
• Est. Priority Date: 03/02/2006
• Status: Expired due to Fees

• Current Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Original Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Inventors: Abe, Koichi
• Primary Examiner(s): TUCKER, WESLEY J
• Application Number:
  US11/679,550
• Publication Number:
  US 20070206835A1
• Time in Patent Office: 1,645 Days
• Field of Search: 382/104, 382/154, 348/239, 348142-170, 359/857, 340/461, 340/436
• US Class Current: 382/104
• 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 7/181 for receiving images from a plurality of remote sources

Abstract

The invention provides a display method of processing images photographed by plural cameras and an apparatus for the same, which synthesizes the images by plural cameras mounted on a vehicle for photographing the surroundings thereof and makes it possible to display an easily viewable three-dimensional object near the vehicle, as if one camera were positioned above the vehicle. An image capture unit captures images photographed by plural cameras that photograph the surroundings of a vehicle. An upper observation point image processing unit synthesizes the captured images into an image viewed as from above the vehicle. An image intensity/chrominance determination unit detects an area wherein the displayed image varies from other areas in the synthesized image based on the intensity/chrominance thereof. When the intensity or the chrominance of the area is continuously varying, a three-dimensional object detection unit determines the detected area as a three-dimensional object. A three-dimensional object display processing is performed regarding the detected three-dimensional object image, using either an ordinary image display or a two-observation point image display. This three-dimensional object display image is associated with an upper observation point image at a base front end of the three-dimensional object by an image connecting synthesizing unit, and the associated image is displayed.

Claims

1. A display method of processing images photographed by a plurality of cameras, comprising:

capturing images photographed by the plurality of cameras configured to photograph surroundings of a vehicle;

synthesizing the images using a first processing method, into a synthesized image as viewed from above the vehicle;

displaying the synthesized image;

detecting a three-dimensional object on a road surface by detecting an area in which the displayed synthesized image varies from other areas in the synthesized image; and

performing image processing on the synthesized image using a second processing method to detect the three-dimensional object, the second processing method comparing an intensity or chrominance difference between a region on the road surface and a front side of the three-dimensional object,

wherein, after the area where the displayed image varies from other areas is detected, the three-dimensional object is detected by detecting an image variation characteristic of the three-dimensional object in the detected area;

wherein the first processing method is different than the second processing method; and

displaying an image of the three-dimensional object associated with the synthesized image and the detected three-dimensional object, viewed as from above the vehicle.

2. The display method of claim 1, wherein the three-dimensional object is detected by an area of varying intensity in an image.

3. The display method of claim 1, wherein the three-dimensional object is detected by an area of varying chrominance in an image.

4. The display method of claim 1, wherein a predetermined region is set in a display screen and the three-dimensional object is detected by an area of the display image varying in the predetermined region.

5. The display method of claim 1, wherein the predetermined region is set according to a travel direction of the vehicle.

6. The display method of claim 4, wherein the predetermined region is set on the basis of a distance from the vehicle as detected by radar or sonar mounted on the vehicle.

7. The display method of claim 1, wherein the image variation characteristic of the three-dimensional object is detected by a small variation of the image displayed in the detected area.

8. The display method of claim 1, wherein the image of the three-dimensional object is displayed in relation to a detected base of the three-dimensional object.

9. The display method of claim 1, wherein the displayed image of the three-dimensional object is a two observation point image.

10. A processing apparatus for displaying images photographed by a plurality of cameras, comprising:

means for processing an image viewed as from above a vehicle that captures images photographed by the plurality of cameras, which are configured to;

photograph surroundings of the vehicle,

synthesize the images using a first processing method, into an image viewed as from above the vehicle, and

display the synthesized image;

three-dimensional object detection means configured to detect a three-dimensional object on a road surface by detecting an area in the synthesized image in which the displayed image varies from other areas;

three-dimensional object image processing means configured to form an image of the three-dimensional object detected by the three-dimensional object detection means by using a second processing method, the second processing method comparing an intensity or chrominance difference between a region on the road surface and a front side of the three-dimensional object, wherein the first processing method being different than the second processing method;

wherein, after the area where the displayed image varies from other areas is detected, the three-dimensional object is detected by detecting an image variation characteristic of the three-dimensional object in the detected area; and

image display means that, when the three-dimensional object detection means detects the three-dimensional object, associates the synthesized image viewed as from above the vehicle and the image of the detected three-dimensional object, and displays a combined image.

11. The processing apparatus of claim 10, wherein the three-dimensional object detection means detects the three-dimensional object by detecting an area of varying intensity in an image.

12. The processing apparatus of claim 10 wherein the three-dimensional object detection means detects the three-dimensional object by detecting an area of varying chrominance in an image.

13. The processing apparatus of claim 10, wherein the three-dimensional object detection means sets a predetermined region in a display screen and detects the three-dimensional object by detecting an area of the display image that varies in the predetermined region.

14. The processing apparatus of claim 13, wherein the predetermined region is set according to a travel direction of the vehicle.

15. The processing apparatus of claim 13, wherein the predetermined region is set on the basis of a distance from the vehicle as detected by radar or sonar mounted on the vehicle.

16. The processing apparatus of claim 10, wherein the image variation characteristic of the three-dimensional object is detected by a small variation of the image displayed in the detected area.

17. The processing apparatus of claim 10, wherein the image of the three-dimensional object is displayed in relation to a detected base of the three-dimensional object.

18. The processing apparatus of claim 10, wherein the image of the three-dimensional object is a two observation point image.