Vehicle circumferential image providing device and vehicle circumferential image providing method
First Claim
1. A vehicle circumferential image providing device configured to provide an image at a circumference of a vehicle to a driver, the vehicle circumferential image providing device comprising:
- a plurality of imaging units configured to image the circumference of the vehicle, wherein the plurality of imaging units are configured to image in mutually different directions;
a first image processing unit configured to coordinate convert images at the circumference of the vehicle imaged by the plurality of imaging units using a ground surface as a reference surface, and generate an overhead image by combining the coordinate-converted images;
an edge detecting unit configured to detect edges in the overhead image generated by the first image processing unit;
a determining unit configured to determine continuity of edge lines extending over connected parts of the coordinate-converted images, among edge lines detected by the edge detecting unit; and
a second image processing unit configured to perform imaging processing by setting edge lines at a far side of the vehicle to match edge lines at a near side of the vehicle, thereby setting the edge lines to be continuous at the connected parts, when the edge lines extending over the connected parts of the coordinate-converted images are discontinuous.
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Accused Products
Abstract
In a vehicle circumferential image providing device 1, an image converting unit 53 generates an overhead image 205 from images picked up with plural camera modules 10. An image detecting unit 54 performs edge detection in an overhead image 205. Further, the image detecting unit 54 determines continuity of edge lines connecting between connected parts in the overhead image 205, among the detected edge lines. When the edge lines striding over the connected parts in the overhead image 205 are discontinuous, the image detecting unit 54 sets edge lines at the far side of the own vehicle to match edge lines at the near side of the own vehicle, thereby setting the edge lines continuous at the connected parts.
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Citations
10 Claims
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1. A vehicle circumferential image providing device configured to provide an image at a circumference of a vehicle to a driver, the vehicle circumferential image providing device comprising:
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a plurality of imaging units configured to image the circumference of the vehicle, wherein the plurality of imaging units are configured to image in mutually different directions; a first image processing unit configured to coordinate convert images at the circumference of the vehicle imaged by the plurality of imaging units using a ground surface as a reference surface, and generate an overhead image by combining the coordinate-converted images; an edge detecting unit configured to detect edges in the overhead image generated by the first image processing unit; a determining unit configured to determine continuity of edge lines extending over connected parts of the coordinate-converted images, among edge lines detected by the edge detecting unit; and a second image processing unit configured to perform imaging processing by setting edge lines at a far side of the vehicle to match edge lines at a near side of the vehicle, thereby setting the edge lines to be continuous at the connected parts, when the edge lines extending over the connected parts of the coordinate-converted images are discontinuous. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle circumferential image providing method for providing an image at a circumference of a vehicle to a driver, the vehicle circumferential image providing method comprising:
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a step of imaging mutually different directions of the circumference of the vehicle; a step of coordinate-converting the images at the circumference of the vehicle imaged using a ground surface as a reference surface, and generating an overhead image by combining the coordinate-converted images; a step of detecting edges in the generated overhead image; a step of determining continuity of edge lines extending over connected parts of the coordinate-converted images, among detected edge lines; and a step of performing imaging processing by setting edge lines at a far side of the vehicle to match edge lines at a near side of the vehicle, thereby setting the edge lines to be continuous at the connected parts, when the edge lines extending over the connected parts of the coordinate-converted images are discontinuous.
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Specification