Method and apparatus for image processing for in-vehicle cameras

• US 8,648,881 B2
• Filed: 11/27/2009
• Issued: 02/11/2014
• Est. Priority Date: 12/01/2008
• Status: Active Grant

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Yamada, Masahiro
• Primary Examiner(s): Thompson, James A
• Assistant Examiner(s): Gennene, Fikru
• Application Number:
  US12/591,675
• Publication Number:
  US 20100134519A1
• Time in Patent Office: 1,537 Days
• Field of Search: 348118-120, 348/148
• US Class Current: 345/672
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/304 using merged images, e.g. merging camera image with stored images
• CPC Class Codes: B60R 2300/70 characterised by an event-triggered choice to display a specific image among a selection of captured images
• CPC Class Codes: G06T 11/00 2D [Two Dimensional] image generation

Abstract

An image processing apparatus has stored therein in advance, as image conversion parameters to coordinate-convert images acquired by in-vehicle cameras incorporated at different positions in an own vehicle, directions connecting between a sight-line starting position of a driver and predetermined positions of the own vehicle, values of a depression angle from the sight-line starting position of the driver, and a range that the driver is caused to visualize, for each of the in-vehicle cameras, corresponding to a state of the own vehicle. The image processing apparatus receives from the driver an input of a display output condition, and determines a current state of the own vehicle. The image processing apparatus acquires the image conversion parameters based on the display output condition and the current state of the own vehicle, and converts images captured by the in-vehicle cameras, by using the acquired image conversion parameters, and outputs the images.

Claims

1. An image processing apparatus comprising:

an image-conversion-parameter storage unit having stored therein in advance, as image conversion parameters to coordinate-convert images of in-vehicle cameras incorporated in an own vehicle, a plurality of directions connecting between a sight-line starting position of a driver and a plurality of predetermined positions of the own vehicle, values of a depression angle from the sight-line starting position of the driver, and a range that the driver is caused to visualize corresponding to a positioned state of the own vehicle, for each of the in-vehicle cameras incorporated at different positions of the own vehicle;

a state determining unit that determines a current state of the own vehicle;

an image converting unit that coordinate-converts an image captured by each in-vehicle camera, based on a result of a state determined by the state determining unit and the image conversion parameters stored in the image-conversion-parameter storage unit;

a display and output unit that outputs and displays an image converted by the image converting unit;

a display-output-condition-input receiving unit that receives from a driver an input of a display output condition for outputting and displaying an image captured by each in-vehicle camera; and

an overhead-image display unit that temporarily displays an overhead image of entirety of the own vehicle when the display-output-condition-input receiving unit receives an input of a first display output condition different from a second display output condition of last time, wherein

the overhead image is inserted between a first image converted in the first display output condition and a second image converted in the second display output condition, before the first image is displayed, and

the first image and the second image are respectively one and another out of an image acquired from the driver'"'"'s viewpoint viewing frontward of the own vehicle from a driver position, an image acquired from the driver'"'"'s viewpoint viewing backward of the own vehicle from the driver position, and an image acquired from the driver'"'"'s viewpoint viewing sideward of the own vehicle from the driver position.

2. The image processing apparatus according to claim 1, wherein the state determining unit determines a current state of the own vehicle by using one or a plurality of pieces of information concerning a driving operation of the vehicle, vehicle speed information, and navigation information.

3. The image processing apparatus according to claim 1, further comprising a parameter-setting changing unit that changes a setting of the image conversion parameters stored in the image-conversion-parameter storage unit, based on a size of the own vehicle, a setting position of a steering wheel, a body frame of a driver, and a seat position.

4. The image processing apparatus according to claim 1, further comprising a parameter-setting-change receiving unit that receives from a driver a setting change of the image conversion parameters stored in the image-conversion-parameter storage unit.

5. The image processing apparatus according to claim 1, further comprising an own-vehicle-information inserting unit that inserts information indicating a positional relationship of the own vehicle into an image converted by the image converting unit, wherein

the display and output unit outputs and displays an image into which information indicating a positional relationship of the own vehicle is inserted by the own-vehicle-information inserting unit.

6. An image processing method applied to an image processing apparatus, comprising:

determining a current state of an own vehicle;

coordinate-converting images captured by in-vehicle cameras incorporated at different positions of the own vehicle, based on image conversion parameters for coordinate-converting images acquired by the in-vehicle cameras and based on a state determination result at the determining, for each of the in-vehicle cameras, corresponding to a positioned scene of the own vehicle, the image conversion parameters being directions connecting between a sight-line starting position of a driver and a plurality of predetermined positions of the own vehicle, values of a depression angle from the sight-line starting position of the driver, and a range that the driver is caused to visualize;

outputting and displaying an image converted at the converting;

receiving from a driver an input of a display output condition for outputting and displaying an image captured by each in-vehicle camera; and

temporarily displaying an overhead image of entirety of the own vehicle when the display-output-condition-input receiving unit receives an input of a first display output condition different from a second display output condition of last time, wherein

the overhead image is inserted between a first image converted in the first display output condition and a second image converted in the second display output condition, before the first image is displayed, and

the first image and the second image are respectively one and another out of an image acquired from the driver'"'"'s viewpoint viewing frontward of the own vehicle from a driver position, an image acquired from the driver'"'"'s viewpoint viewing backward of the own vehicle from the driver position, and an image acquired from the driver'"'"'s viewpoint viewing sideward of the own vehicle from the driver position.