Image processor and camera

• US 8,670,034 B2
• Filed: 08/12/2008
• Issued: 03/11/2014
• Est. Priority Date: 08/28/2007
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Hattori, Toshihiro, Hattori, Kazushige, Wang, Bingchen
• Primary Examiner(s): Survillo, Oleg
• Application Number:
  US12/222,560
• Publication Number:
  US 20090059005A1
• Time in Patent Office: 2,037 Days
• Field of Search: 348/148, 345/626, 345/620, 382/283
• 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 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 1/28 with an adjustable field of view
• CPC Class Codes: B60R 2300/102 using 360 degree surveillance camera system
• CPC Class Codes: B60R 2300/207 using multi-purpose displays, e.g. camera image and navigation or video on same display
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/306 using a re-scaling of images
• CPC Class Codes: B60R 2300/406 using wireless transmission
• CPC Class Codes: B60R 2300/8033 for pedestrian protection
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• 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

Abstract

An image processor outputs an image containing relatively much information of a central area in the horizontal direction. A mask composed of an upper mask and a lower mask is superimposed on the image. The upper mask is concave on the lower side thereof and disposed along the upper side of the image. The lower mask is concave on the upper side thereof and disposed along the lower side of the image. When the image is masked with this mask, the peripheral portion of the image that is prone to be distorted becomes invisible. Therefore, discomfort a user feels because of distortion can be reduced. In addition, the user can view the image with the much information of the central area of the image in the horizontal direction.

Claims

1. A vehicular image processor for a vehicle to carry out mask processing to an image of an area adjacent to a rear side of the vehicle from a rear-view camera of the vehicle, the image processor comprising:

an image interface that receives a single image captured by the rear-view camera of the vehicle as an image signal, the single image including a rear-side-vehicle-body of the vehicle;

a mask information storage unit; and

an image processing unit cooperatively operable with the image interface and the mask information storage unit, the image processing unit being programmed to facilitate;

reading a mask from the mask information storage unit,

inputting the single image from the image interface, and

carrying out mask processing on the single image onto which the mask read from the mask information storage unit is superimposed, to define an unmasked area of the single image, wherein;

a shape of the single image is substantially rectangular having a left side, a right side, a top side, and a bottom side,

the mask superimposed onto the single image includes simultaneously an upper mask along the top side of the single image and a lower mask along the bottom side of the single image,

the upper mask and the lower mask being spaced apart in a top-bottom direction,

the upper mask being concave on a lower side thereof,

the lower mask having a first slope and a second slope on an upper side thereof, the first slope descending toward the second slope, the second slope descending toward the first slope,

the lower mask being disposed on the single image to position the rear-side-vehicle-body to an area defined between the first slope and the second slope,

each of the upper mask and the lower mask having a top-bottom width that is narrower as approaching from each of the left side and the right side toward a central part of the single image that masks a peripheral portion of the single image that is prone to be distorted,

the unmasked area of the single image having a top-bottom width which is broader as approaching from each of the left side and the right side towards a central part,

the rear-view camera includes a wide view angle lens having a horizontal angle of view of 180 degrees or more, and

due to a distortion of the captured single image in the horizontal angle of view, the area of the single image captured by the rear-view camera between the first slope and the second slope displays the rear-side-vehicle-body of the vehicle with a horizontal angle of view that is reduced to less than 180 degrees.

2. The image processor according to claim 1, wherein a concave shape of the upper mask is along a distorted curve of the single image.

3. The image processor according to claim 1, wherein mask processing includes at least any one of:

solidly shading a portion to be masked of the single image;

varying a brightness of a portion to be masked of the single image;

varying a chroma of a portion to be masked of the single image;

varying a hue of a portion to be masked of the single image; and

gradating a portion to be masked of the single image.

4. The image processor according to claim 1, wherein

the mask information storage unit stores a plurality of masks including the lower mask having the first slope and the second slope,

the image processing unit is configured to receive, from a user, an identification of one of the plurality of masks, and

the image processing unit carries out the mask processing based on the identification from the user.

5. The image processor according to claim 4, wherein the plurality of masks stored in the mask information storage unit have different sizes.

6. The image processor according to claim 1, further comprising:

an information input interface cooperatively operable with the image processing unit, to receive an operation by a user and provide the operation to the image processing unit, wherein

the image processing unit cancels mask processing with respect to at least either of the upper mask and the lower mask according to the operation received by the information input interface.

7. The image processor according to claim 1, wherein:

the image processing unit superimposes at least one switching icon in at least one of a left end portion and a right end portion within one of the upper mask and the lower mask, the at least one switching icon being used to switch the mask into a different mask shape or size.

8. The image processor according to claim 1, wherein:

the image processing unit changes a color of the mask in response to detection of an obstacle in the single image captured by the rear-view camera of the vehicle to a predetermined color corresponding to a distance to the obstacle.

9. The image processor according to claim 1, wherein:

the image processing unit cancels mask processing with respect to at least one of the upper mask and the lower mask in response to detection of a person hidden by the at least one of the upper mask and the lower mask in the single image captured by the rear-view camera of the vehicle.

10. A vehicular image processor for a vehicle to carry out mask processing to an image of an area adjacent to a rear side of the vehicle from a rear-view camera of the vehicle, the image processor comprising:

an image interface that receives a single image captured by the rear-view camera of the vehicle as an image signal, the single image including a rear-side-vehicle-body of the vehicle;

a mask information storage unit; and

an image processing unit cooperatively operable with the image interface and the mask information storage unit, the image processing unit being programmed to facilitate;

reading a mask from the mask information storage unit,

inputting the single image from the image interface,

carrying out mask processing on the single image onto which the mask read from the mask information storage unit is superimposed, to define an unmasked area of the single image, and

superimposing an angle scale on a lower part of the single image, wherein;

a shape of the single image is substantially rectangular having a left side, a right side, a top side, and a bottom side,

the mask superimposed onto the single image includes simultaneously an upper mask along the top side of the single image and a lower mask along the bottom side of the single image,

the upper mask and the lower mask being spaced apart in a top-bottom direction,

the upper mask being concave on a lower side thereof,

the lower mask having a V-shaped recess on an upper side thereof,

the lower mask being disposed on the single image to position the rear-side-vehicle-body and the angle scale to an area defined within the V-shaped recess,

each of the upper mask and the lower mask having a top-bottom width that is narrower as approaching from each of the left side and the fight side toward a central part of the single image that masks a peripheral portion of the single image that is prone to be distorted,

the unmasked area of the single image having a top-bottom width which is broader as approaching from each of the left side and the fight side towards a central part,

the rear-view camera includes a wide view angle lens having a horizontal angle of view of 180 degrees or more,

due to a distortion of the captured single image in the horizontal angle of view, the area of the single image captured by the rear-view camera within the V-shaped recess displays the rear-side-vehicle-body of the vehicle with a horizontal angle of view that is reduced to less than 180 degrees, and

the angle scale positioned within the V-shaped recess displays angle values scaled to match the distortion of the captured single image in the reduced horizontal angle of view.

11. The image processor according to claim 10, wherein a concave shape of the upper mask is along a distorted curve of the single image.

12. The image processor according to claim 10, wherein mask processing includes at least any one of:

solidly shading a portion to be masked of the single image;

varying a brightness of a portion to be masked of the single image;

varying a chroma of a portion to be masked of the single image;

varying a hue of a portion to be masked of the single image; and

gradating a portion to be masked of the single image.

13. The image processor according to claim 10, wherein

the mask information storage unit stores a plurality of masks including the lower mask having the V-shaped recess,

the image processing unit is configured to receive, from a user, an identification of one of the plurality of masks, and

the image processing unit carries out the mask processing based on the identification from the user.

14. The image processor according to claim 13, wherein the plurality of masks stored in the mask information storage unit have different sizes.

15. The image processor according to claim 10, further comprising:

an information input interface cooperatively operable with the image processing unit, to receive an operation by a user and provide the operation to the image processing unit, wherein

the image processing unit cancels mask processing with respect to at least either of the upper mask and the lower mask according to the operation received by the information input interface.

16. The image processor according to claim 10, wherein:

the image processing unit superimposes at least one switching icon in at least one of a left end portion and a right end portion within one of the upper mask and the lower mask, the at least one switching icon being used to switch the mask into a different mask shape or size.

17. The image processor according to claim 10, wherein:

the image processing unit changes a color of the mask in response to detection of an obstacle in the single image captured by the rear-view camera of the vehicle to a predetermined color corresponding to a distance to the obstacle.

18. The image processor according to claim 10, wherein:

the image processing unit cancels mask processing with respect to at least one of the upper mask and the lower mask in response to detection of a person hidden by the at least one of the upper mask and the lower mask in the single image captured by the rear-view camera of the vehicle.

19. A vehicular image processor for a vehicle to carry out mask processing to an image of an area adjacent to the rear side of a vehicle from a rear-view camera of the vehicle, the image processor comprising:

an image interface that receives a single image captured by the rear-view camera of the vehicle as an image signal, the single image including a rear-side-vehicle-body of the vehicle;

a mask information storage unit; and

an image processing unit cooperatively operable with the image interface and the mask information storage unit, the image processing unit being programmed to facilitate;

reading a mask from the mask information storage unit,

inputting the single image from the image interface, and

carrying out mask processing on the single image onto which the mask read from the mask information storage unit is superimposed, to define an unmasked area of the single image, wherein;

a shape of the single image is substantially rectangular having a left side, a right side, a top side, and a bottom side,

the mask superimposed onto the single image includes simultaneously an upper mask along the top side of the single image and a lower mask along the bottom side of the single image,

the upper mask and the lower mask being spaced apart in a top-bottom direction,

the upper mask being concave on a lower side thereof,

the lower mask having a V-shaped recess on an upper side thereof,

the lower mask being disposed on the single image to position the rear-side-vehicle-body to an area defined within the V-shaped recess,

the lower mask also displaying a model of a rear part of the vehicle,

each of the upper mask and the lower mask having a top-bottom width that is narrower as approaching from each of the left side and the right side toward a central part of the single image that masks a peripheral portion of the single image that is prone to be distorted,

the unmasked area of the single image having a top-bottom width which is broader as approaching from each of the left side and the right side towards a central part,

the rear-view camera includes a wide view angle lens having a horizontal angle of view of 180 degrees or more, and

due to a distortion of the captured single image in the horizontal angle of view, the area of the single image captured by the rear-view camera within the V-shaped recess displays the rear-side-vehicle-body of the vehicle with a horizontal angle of view that is reduced to less than 180 degrees.

20. The image processor according to claim 19, wherein a concave shape of the upper mask is along a distorted curve of the single image.

21. The image processor according to claim 19, wherein mask processing includes at least any one of:

solidly shading a portion to be masked of the single image;

varying a brightness of a portion to be masked of the single image;

varying a chroma of a portion to be masked of the single image;

varying a hue of a portion to be masked of the single image; and

gradating a portion to be masked of the single image.

22. The image processor according to claim 19, wherein

the mask information storage unit stores a plurality of masks including the lower mask having the V-shaped recess,

the image processing unit is configured to receive, from a user, an identification of one of the plurality of masks, and

the image processing unit carries out the mask processing based on the identification from the user.

23. The image processor according to claim 22, wherein the plurality of masks stored in the mask information storage unit have different sizes.

24. The image processor according to claim 19, further comprising:

an information input interface cooperatively operable with the image processing unit, to receive an operation by a user and provide the operation to the image processing unit, wherein

the image processing unit cancels mask processing with respect to at least either of the upper mask and the lower mask according to the operation received by the information input interface.

25. The image processor according to claim 19, wherein:

the image processing unit superimposes at least one switching icon in at least one of a left end portion and a right end portion within one of the upper mask and the lower mask, the at least one switching icon being used to switch the mask into a different mask shape or size.

26. The image processor according to claim 19, wherein:

the image processing unit changes a color of the mask in response to detection of an obstacle in the single image captured by the rear-view camera of the vehicle to a predetermined color corresponding to a distance to the obstacle.

27. The image processor according to claim 19, wherein:

the image processing unit cancels mask processing with respect to at least one of the upper mask and the lower mask in response to detection of a person hidden by the at least one of the upper mask and the lower mask in the single image captured by the rear-view camera of the vehicle.

28. A vehicular image processor for a vehicle to carry out mask processing to an image of an area adjacent to a rear side of the vehicle from a rear-view camera of the vehicle, the image processor comprising:

an image interface that receives a single image captured by the rear-view camera of the vehicle as an image signal, the single image including a rear-side-vehicle-body of the vehicle;

a mask information storage unit; and

an image processing unit cooperatively operable with the image interface and the mask information storage unit, the image processing unit being programmed to facilitate;

reading a mask from the mask information storage unit,

inputting the single image from the image interface, and

carrying out mask processing on the single image onto which the mask read from the mask information storage unit is superimposed, to define an unmasked area of the single image, wherein;

a shape of the single image is substantially rectangular having a left side, a right side, a top side, and a bottom side,

the mask superimposed onto the single image includes simultaneously an upper mask along the top side of the single image and a lower mask along the bottom side of the single image,

the upper mask and the lower mask being spaced apart in a top-bottom direction,

the upper mask being concave on a lower side thereof,

the lower mask having a first slope, a second slope, and a semi-circle portion on an upper side thereof, the first slope descending toward the second slope, the second slope descending toward the first slope, the semi-circle portion being disposed between the first slope and the second slope and having an angle scale,

the lower mask being disposed on the single image to position the rear-side-vehicle-body to an area between the first slope and the second slope,

each of the upper mask and the lower mask having a top-bottom width that is narrower as approaching from each of the left side and the right side toward a central part of the single image that masks a peripheral portion of the single image that is prone to be distorted,

the unmasked area of the single image having a top-bottom width which is broader as approaching from each of the left side and the right side towards a central part,

the rear-view camera includes a wide view angle lens having a horizontal angle of view of 180 degrees or more,

due to a distortion of the captured single image in the horizontal angle of view, the area of the single image captured by the rear-view camera between the first slope and the second slope displays the rear-side-vehicle-body of the vehicle with a horizontal angle of view that is reduced to less than 180 degrees, and

the angle scale attached to the semi-circle portion displays angle values to match with the distortion of the captured image in the reduced horizontal angle of view.

29. The image processor according to claim 28, wherein a concave shape of the upper mask is along a distorted curve of the single image.

30. The image processor according to claim 28, wherein mask processing includes at least any one of:

solidly shading a portion to be masked of the single image;

varying a brightness of a portion to be masked of the single image;

varying a chroma of a portion to be masked of the single image;

varying a hue of a portion to be masked of the single image; and

gradating a portion to be masked of the single image.

31. The image processor according to claim 28, wherein

the mask information storage unit stores a plurality of masks including the lower mask having the first slope, the second slope, and the semi-circle portion,

the image processing unit is configured to receive, from a user, an identification of one of the plurality of masks, and

the image processing unit carries out the mask processing based on the identification from the user.

32. The image processor according to claim 31, wherein the plurality of masks stored in the mask information storage unit have different sizes.

33. The image processor according to claim 28, further comprising:

an information input interface cooperatively operable with the image processing unit, to receive an operation by a user and provide the operation to the image processing unit, wherein

the image processing unit cancels mask processing with respect to at least either of the upper mask and the lower mask according to the operation received by the information input interface.

34. The image processor according to claim 28, wherein:

the image processing unit superimposes at least one switching icon in at least one of a left end portion and a right end portion within one of the upper mask and the lower mask, the at least one switching icon being used to switch the mask into a different mask shape or size.

35. The image processor according to claim 28, wherein:

the image processing unit changes a color of the mask in response to detection of an obstacle in the single image captured by the rear-view camera of the vehicle to a predetermined color corresponding to a distance to the obstacle.

36. The image processor according to claim 28, wherein:

the image processing unit cancels mask processing with respect to at least one of the upper mask and the lower mask in response to detection of a person hidden by the at least one of the upper mask and the lower mask in the single image captured by the rear-view camera of the vehicle.