Method and apparatus for creating 3D image of vehicle surroundings

• US 9,508,189 B2
• Filed: 09/27/2012
• Issued: 11/29/2016
• Est. Priority Date: 11/30/2011
• Status: Active Grant

• Current Assignee: Beyond Corporation
• Original Assignee: KSS-ImageNext Co., Ltd.
• Inventors: Han, Young-In, Cheon, Sung-Je, Park, Jong-Woon, Baek, Won-In
• Primary Examiner(s): Perungavoor, Sath V
• Assistant Examiner(s): AYNALEM, NATHNAEL B
• Application Number:
  US14/361,546
• Publication Number:
  US 20140347450A1
• Time in Patent Office: 1,524 Days
• Field of Search: 348/148, 348/47, 348/48, 348/118, 701/300, 701/301
• US Class Current: 1/1
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 1/28 with an adjustable field of view
• CPC Class Codes: B60R 2300/602 with an adjustable viewpoint
• CPC Class Codes: B60R 2300/605 the adjustment being automatic
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: G06T 15/205 Image-based rendering
• CPC Class Codes: G06T 2215/16 Using real world measurements to influence rendering
• CPC Class Codes: G06T 3/06 Topological mapping of higher dimensional structures onto lower dimensional surfaces
• CPC Class Codes: G06T 3/4038 Image mosaicing, e.g. composing plane images from plane sub-images
• 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
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: H04N 13/106 Processing image signals for multi-view video sequence encoding H04N19/597
• CPC Class Codes: H04N 13/282 for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

The present invention relates to a method and apparatus for creating a 3D image of vehicle surroundings. The method according to the present invention includes the steps of: mapping images captured by a plurality of cameras installed in a vehicle to a virtual plane defined by a 3-dimensional space model having a container shape with a flat bottom surface and a top surface which has an increasing radius; and creating a view image having a viewpoint of a virtual camera by using the image mapped to the virtual plane. According to the present invention, it is advantageous that an image of vehicle surroundings including surrounding obstacles can be expressed naturally and three-dimensionally. It is also advantageous that an optimal image of vehicle surroundings can be provided by changing the virtual viewpoint according to a traveling state of the vehicle. There is also the advantage that a user can conveniently adjust the viewpoint of the virtual camera.

Claims

1. A method for creating a 3D image of vehicle surroundings, the method comprising:

mapping images captured by a plurality of cameras installed in a vehicle to a virtual plane defined by a 3D space model of a vessel shape which has a flat bottom surface and a radius increasing toward a top; and

creating a view image of a viewpoint of a virtual camera by using the images mapped to the virtual plane,

wherein a size of the bottom surface of the 3D space model is in inverse proportion to a driving speed of the vehicle.

2. The method of claim 1, wherein the viewpoint of the virtual camera is determined according to at least one of a driving condition of the vehicle and a user selection.

3. The method of claim 1, wherein the view image is created with reference to a lookup table in which a corresponding relationship between the image mapped to the virtual plane and the view image of the viewpoint of the virtual camera is pre-defined.

4. The method of claim 1, wherein a center of an area where the images captured by the plurality of cameras to create the view image overlap with one another is changed according to a tilt angle of the virtual camera.

5. The method of claim 1, wherein the plurality of cameras comprise a front camera, a right camera, a rear camera, and a left camera installed on a front, a right, a rear, and a left of the vehicle, respectively, and

wherein a center of an overlapping area where the images captured by the plurality of cameras to create the view image overlap with one another is changed to further comprise an image captured by the virtual camera according to how far the virtual camera is distanced from a center of the vehicle to the left or right.

6. The method of claim 2, wherein the viewpoint of the virtual camera interworks with a steering angle direction or a gear location of the vehicle.

7. The method of claim 2, further comprising:

displaying a user interface (UI) for receiving a user selection regarding the viewpoint of the virtual camera; and

displaying a change in the viewpoint of the virtual camera according to a user selection input through the UI.

8. The method of claim 2, further comprising adding information on buildings and roads around a driving location of the vehicle to the view image according to the viewpoint of the virtual camera.

9. A system for displaying an image of vehicle surroundings, the system comprising a surrounding image creating apparatus configured to receive images captured by a plurality of cameras installed in a vehicle, map the images to a virtual plane defined by a 3D space model of a vessel shape which has a flat bottom surface and a radius increasing toward a top, and create a view image viewed from a viewpoint of a virtual camera by using the images mapped to the virtual plane,

wherein a size of the bottom surface of the 3D space model is in inverse proportion to a driving speed of the vehicle.

10. The system of claim 9, wherein the surrounding image creating apparatus adds information on buildings and roads around a driving location of the vehicle to the view image according to the viewpoint of the virtual camera.

11. The system of claim 9, wherein the plurality of cameras transmit the captured images to the surrounding image creating apparatus via short-range wireless communication.