Apparatus and method for displaying bird's eye view image of around vehicle to facilitate perception of three dimensional obstacles present on a seam of an image

• US 8,384,782 B2
• Filed: 09/30/2009
• Issued: 02/26/2013
• Est. Priority Date: 02/27/2009
• Status: Expired due to Fees

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Hyundai Motor Japan R&D Center Incorporated, Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group), Hyundai Motor Japan R&D Center Incorporated, Kia Motors Corporation (Kia Corp.)
• Inventors: Hiroshi, Nakamura
• Primary Examiner(s): Dollinger, Tonia L
• Assistant Examiner(s): Murray, Daniel C
• Application Number:
  US12/570,613
• Publication Number:
  US 20100220190A1
• Time in Patent Office: 1,245 Days
• Field of Search: 348/148, 348/153, 348/222.1, 340/435, 345/629
• US Class Current: 348/148
• 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 2300/607 from a bird's eye viewpoint
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 3/4038 Image mosaicing, e.g. composing plane images from plane sub-images
• CPC Class Codes: G06T 5/80 Geometric correction
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 25/61 the noise originating only from the lens unit, e.g. flare, shading, vignetting or "cos4"

Abstract

The present invention features an apparatus and method for displaying a bird'"'"'s eye view image of around a vehicle in a relatively simple manner without causing a large amount of processing load, in which a driver can easily perceive a three-dimensional obstacle placed adjacent to a seam.

Claims

1. An apparatus for displaying a bird'"'"'s eye view image, comprising:

a plurality of on-vehicle cameras photographing surrounding objects of a vehicle;

an image-converting unit wherein the image converting unit processes images obtained by the on-vehicle cameras, corrects lens distortion in each of images photographed by the on-vehicle cameras, converts a view point, trims display areas, and synthesizes a bird'"'"'s eye view image around the vehicle by connecting the trimmed display areas; and

an on-vehicle display unit displaying the synthesized bird'"'"'s eye view image to a driver or an occupant,

wherein the image-converting unit produces first through n+1^TH bird'"'"'s eye view images by sequentially drawing the second through n+1^TH bird'"'"'s eye view images for second through n+1^TH reference heights, which are sequentially higher than ground level indicated by a first reference height, when a three-dimensional obstacle placed adjacent to a seam is suitably detected from a bird'"'"'s eye view image of around the vehicle, where n is an integer greater than 0, in addition to drawing the bird'"'"'s eye view image for the ground level, and once the view point is converted, converts a view point of an image from a side view to a top view of the vehicle, and

wherein image converting unit,

converts the distortion-corrected image into an image seen from above the vehicle with reference to a view point-correcting look-up table,

trims first through n+1^TH display areas from the view point-converted image with reference to first through n+1^TH display area-trimming look-up tables corresponding to the first through n+1^TH reference heights, the first through n+1th reference heights including a first reference height 1 corresponding to the ground level and a reference height n+1 higher than the ground level, further sequentially converts the reference heights, and

synthesizes the first through n+1^TH bird'"'"'s eye view images by connecting the first through n+1^TH display areas.

2. The apparatus in accordance with claim 1, wherein in the image-converting unit corrects a distortion due to a wide angle lens by referring to a lens distortion-correcting look-up table.

3. The apparatus in accordance with claim 1, further comprising a sensor detecting a three-dimensional obstacle around the vehicle,

wherein the first bird'"'"'s eye view image is configured to be displayed while not detecting a three-dimensional obstacle that is placed on at least one seam (of the bird'"'"'s eye view image by the sensor, and the reference height-converting unit is activated when the sensor detects a three-dimensional obstacle placed on at least one seam of the bird'"'"'s eye view image.

4. The apparatus in accordance with claim 1, further comprising a control switch changing a display mode of the bird'"'"'s eye view image in response to an operation of the driver,

wherein the first bird'"'"'s eye view image is configured to be displayed while not perceiving a three-dimensional obstacle that is placed on at least one seam of the bird'"'"'s eye view image by the driver, and a reference height-converting unit is activated when the presence of the three-dimensional obstacle is perceived by the driver and the driver operates the control switch.

5. The apparatus in accordance with claim 1, further comprising:

a sensor configured to detect a three-dimensional obstacle around the vehicle; and

a control switch configured to change a display mode of the bird'"'"'s eye view image in response to an operation of the driver,

wherein the first bird'"'"'s eye view image is displayed when a presence of the three-dimensional obstacle on at least one seam of the bird'"'"'s eye view image is detected neither by the sensor nor by the driver, and the reference height-converting unit is started when the presence of the three-dimensional obstacle is detected by the sensor or when the presence of the three-dimensional obstacle is detected by the driver and the control switch is operated by the driver.

6. A motor vehicle comprising an apparatus for displaying a bird'"'"'s eye view image of claim 1.

7. A method for displaying a bird'"'"'s eye view image, comprising:

photographing surrounding objects of a vehicle using a plurality of on-vehicle cameras;

converting an image, wherein the image conversion includes correcting lens distortion in each of the images photographed by the on-vehicle cameras, converting a view point, trimming display areas, and synthesizing and drawing a bird'"'"'s eye view image around the vehicle by connecting the trimmed display areas;

displaying the bird'"'"'s eye view image to a driver or an occupant using an on-vehicle display unit,

wherein the image conversion includes converting reference heights to produce first through n+1^TH bird'"'"'s eye view images by sequentially drawing the second through n+1^TH bird'"'"'s eye view images for second through n+1^TH reference heights, which are sequentially higher than ground level indicated by a first reference height, when a three dimensional obstacle placed adjacent to a seam is suitably detected from the bird'"'"'s eye view image of around the vehicle, where n is an integer greater than 0, in addition to drawing the bird'"'"'s eye view image for the ground level and when the view point is converted, converts a view point of an image from a side view to a top view of the vehicle, and

wherein image converting unit,

converts the distortion-corrected image into an image seen from above the vehicle with reference to a view point-correcting look-up table,

trims first through n+1^TH display areas from the view point-converted image with reference to first through n+1^TH display area-trimming look-up tables corresponding to the first through n+1^TH reference heights, the first through n+1^TH reference heights including a first reference height 1 corresponding to the ground level and a reference height n+1 higher than the ground level, further sequentially converts the reference heights, and

synthesizes the first through n+1^TH bird'"'"'s eye view images by connecting the first through n+1^TH display areas.