Image processing apparatus, image processing method, and recording medium
First Claim
1. An image processing apparatus processing image data obtained by surroundings image of a vehicle through a plurality of imaging devices mounted on the vehicle, comprising:
- a state information obtaining unit obtaining state information that indicates a state of driving operation of the vehicle;
an image storage unit storing a plurality of two-dimensional image data pieces obtained from the plurality of imaging devices whose viewing fields partly overlap with each other;
a specifying unit compositing a plurality of two-dimensional image data pieces into a shape of a three-dimensional projection plane when the state information obtaining unit has obtained given state information, and then specifying, in correspondence to the state information, a compositing method for overlapping portions of viewing fields or transformation information to be used for transformation from a three-dimensional image based on the obtained three-dimensional image data into projection image data viewed from a position of a given viewpoint along a given line-of-sight direction; and
an image transformation unit transforming the plurality of two-dimensional image data pieces stored in the image storage unit into projection image data viewed from the position of the given viewpoint along the given line-of-sight direction, by using the compositing method or the transformation information specified by the specifying unit.
1 Assignment
0 Petitions
Accused Products
Abstract
An image processing apparatus, includes: a state information unit obtaining state information that indicates a state of driving operation of the vehicle; an image storage storing a two-dimensional image data obtained from imaging devices whose viewing fields partly overlap; a specifying unit compositing the data into a shape of a three-dimensional projection plane, and then specifying, in correspondence to the state information, a compositing method overlapping portions of viewing fields to be used for transformation from a three-dimensional image into a projection image viewed from a viewpoint along a line-of-sight; and an image transformation unit transforming the data into projection image data viewed from the viewpoint along the line-of-sight direction using the compositing method.
-
Citations
20 Claims
-
1. An image processing apparatus processing image data obtained by surroundings image of a vehicle through a plurality of imaging devices mounted on the vehicle, comprising:
-
a state information obtaining unit obtaining state information that indicates a state of driving operation of the vehicle; an image storage unit storing a plurality of two-dimensional image data pieces obtained from the plurality of imaging devices whose viewing fields partly overlap with each other; a specifying unit compositing a plurality of two-dimensional image data pieces into a shape of a three-dimensional projection plane when the state information obtaining unit has obtained given state information, and then specifying, in correspondence to the state information, a compositing method for overlapping portions of viewing fields or transformation information to be used for transformation from a three-dimensional image based on the obtained three-dimensional image data into projection image data viewed from a position of a given viewpoint along a given line-of-sight direction; and an image transformation unit transforming the plurality of two-dimensional image data pieces stored in the image storage unit into projection image data viewed from the position of the given viewpoint along the given line-of-sight direction, by using the compositing method or the transformation information specified by the specifying unit. - View Dependent Claims (3, 5, 7, 9, 10, 12, 14, 15, 17)
-
-
2. An image processing apparatus processing image data obtained by surroundings image of a vehicle through a plurality of imaging devices mounted on the vehicle, comprising:
-
a state information obtaining unit obtaining state information that indicates a state of driving operation of the vehicle, from the vehicle at regular intervals or alternatively at occasions of a change; an image storage unit storing a plurality of two-dimensional image data pieces obtained from the plurality of imaging devices whose viewing fields partly overlap with each other; a specifying unit compositing a plurality of two-dimensional image data pieces stored in the image storage unit into a shape of a three-dimensional projection plane, and then specifying, in correspondence to the state information obtained by the state information obtaining unit, a compositing method for overlapping portions of viewing fields or the transformation information to be used for transformation from a three-dimensional image based on the obtained three-dimensional image data into projection image data viewed from a position of a given viewpoint along a given line-of-sight direction; and an image transformation unit transforming the plurality of two-dimensional image data pieces stored in the image storage unit into projection image data viewed from the position of the given viewpoint along the given line-of-sight direction, by using the compositing method or the transformation information specified by the specifying unit. - View Dependent Claims (4, 6, 8, 11, 13, 16, 18)
-
-
19. An image processing method performed with surroundings image of a vehicle through a plurality of imaging devices mounted on the vehicle, comprising:
-
obtaining state information that indicates a state of driving operation of the vehicle; compositing a plurality of two-dimensional image data pieces obtained from the plurality of imaging devices whose viewing fields partly overlap with each other into a shape of a three-dimensional projection plane when given state information is obtained; specifying, in correspondence to the state information, a compositing method for overlapping portions of viewing field or transformation information to be used for transformation from three-dimensional image based on the obtained three-dimensional image data into projection image data viewed from a position of a given viewpoint along a given line-of-sight direction; and transforming, by using the transformation information or the compositing method having been specified, the plurality of two-dimensional image data pieces into projection image data viewed from the position of the given viewpoint along the given line-of-sight direction.
-
-
20. A recording medium capable of being read by a computer in which program for making the computer execute processing image data obtained by surroundings image of a vehicle through a plurality of imaging devices mounted on the vehicle, comprising:
-
obtaining state information that indicates a state of driving operation of the vehicle; compositing a plurality of two-dimensional image data pieces obtained from the plurality of imaging devices whose viewing fields partly overlap with each other into a shape of a three-dimensional projection plane when given state information is obtained; specifying, in correspondence to the state information, a compositing method for overlapping portions of viewing fields or transformation information to be used for transformation from three-dimensional image based on the obtained three-dimensional image data into projection image data viewed from a position of a given viewpoint along a given line-of-sight direction; and transforming, by using the compositing method or the transformation information having been specified, the plurality of two-dimensional image data pieces into projection image data viewed from the position of the given viewpoint along the given line-of-sight direction.
-
Specification