Method of Processing Images Photographed by Plural Cameras And Apparatus For The Same

• US 20070206835A1
• Filed: 02/27/2007
• Published: 09/06/2007
• Est. Priority Date: 03/02/2006
• Status: Active Grant

• Current Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Original Assignee: Alpine Electronics Incorporated (Alps Alpine Co., Ltd.)
• Inventors: Abe, Koichi
• Granted Patent: US 8,009,868 B2
• Time in Patent Office: Days
• US Class Current: 382/104
• 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: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

The invention provides a display method of processing images photographed by plural cameras and an apparatus for the same, which synthesizes the images by plural cameras mounted on a vehicle for photographing the surroundings thereof and makes it possible to display an easily viewable three-dimensional object near the vehicle, as if one camera were positioned above the vehicle. An image capture unit captures images photographed by plural cameras that photograph the surroundings of a vehicle. An upper observation point image processing unit synthesizes the captured images into an image viewed as from above the vehicle. An image intensity/chrominance determination unit detects an area wherein the displayed image varies from other areas in the synthesized image based on the intensity/chrominance thereof. When the intensity or the chrominance of the area is continuously varying, a three-dimensional object detection unit determines the detected area as a three-dimensional object. A three-dimensional object display processing is performed regarding the detected three-dimensional object image, using either an ordinary image display or a two-observation point image display. This three-dimensional object display image is associated with an upper observation point image at a base front end of the three-dimensional object by an image connecting synthesizing unit, and the associated image is displayed.

Claims

1. A display method of processing images photographed by plural cameras, comprising:

capturing images photographed by plural cameras photographing the surroundings of a vehicle, synthesizing the images into an image viewed as from above the vehicle, and displaying the image;

detecting a three-dimensional object by detecting an area wherein the displayed image varies from other areas in the synthesized image; and

performing image processing regarding the detected three-dimensional object in a manner different from the synthesizing processing of the image viewed as from above the vehicle, and displaying an image of the three-dimensional object associated with the image viewed as from above the vehicle.

2. A display method of processing images photographed by plural cameras according to claim 1, wherein the three-dimensional object is detected by an area of varying intensity in an image.

3. A display method of processing images photographed by plural cameras according to claim 1, wherein the three-dimensional object is detected by an area of varying chrominance in an image.

4. A display method of processing images photographed by plural cameras according to claim 1, wherein a predetermined region is set in a display screen and the three-dimensional object is detected by an area of the display image varying in the predetermined region.

5. A display method of processing images photographed by plural cameras according to claim 4, wherein the predetermined region is set according to a travel direction of the vehicle.

6. A display method of processing images photographed by plural cameras according to claim 4, wherein the predetermined region is set on the basis of a distance from the vehicle as detected by radar or sonar mounted on the vehicle.

7. A display method of processing images photographed by plural cameras according to claim 1, wherein, after the area wherein the displayed image varies from other areas is detected, the three-dimensional object is detected by detecting an image variation characteristic of the three-dimensional object in the detected area.

8. A display method of processing images photographed by plural cameras according to claim 7, wherein the image variation characteristic of the three-dimensional object is detected by a small variation of the image displayed in the detected area.

9. A display method of processing images photographed by plural cameras according to claim 1, wherein the image of the three-dimensional object is displayed in relation to a detected base of the three-dimensional object.

10. A display method of processing images photographed by plural cameras according to claim 1, wherein the displayed image of the three-dimensional object is a two observation point image.

11. A processing apparatus for displaying images photographed by plural cameras, comprising:

a means for processing an image viewed as from above a vehicle that captures images photographed by plural cameras for photographing the surroundings of the vehicle, synthesizes the images into an image viewed as from above the vehicle, and displays the image;

a three-dimensional object detection means that detects a three-dimensional object by detecting an area in the synthesized image in which the displayed image varies from other areas;

a three-dimensional object image processing means that forms an image of the three-dimensional object detected by the three-dimensional object detection means in a manner different from the image viewed as from above the vehicle; and

an image display means that, when the three-dimensional object detection means detects the three-dimensional object, associates the image viewed as from above the vehicle and the image of the three-dimensional object, and displays a combined image.

12. A processing apparatus for displaying images photographed by plural cameras according to claim 11, wherein the three-dimensional object detection means detects the three-dimensional object by detecting an area of varying intensity in an image.

13. A processing apparatus for displaying images photographed by plural cameras according to claim 11, wherein the three-dimensional object detection means detects the three-dimensional object by detecting an area of varying chrominance in an image.

14. A processing apparatus for displaying images photographed by plural cameras according to claim 11, wherein the three-dimensional object detection means sets a predetermined region in a display screen and detects the three-dimensional object by detecting an area of the display image that varies in the predetermined region.

15. A processing apparatus for displaying images photographed by plural cameras according to claim 14, wherein the predetermined region is set according to a travel direction of the vehicle.

16. A processing apparatus for displaying images photographed by plural cameras according to claim 14, wherein the predetermined region is set on the basis of a distance from the vehicle as detected by radar or sonar mounted on the vehicle.

17. A processing apparatus for displaying images photographed by plural cameras according to claim 11, wherein, after detecting the area in which the displayed image varies from other areas, the three-dimensional object detection means detects an image variation characteristic of the three-dimensional object in the detected area.

18. A processing apparatus for displaying images photographed by plural cameras according to claim 17, wherein the image variation characteristic of the three-dimensional object is detected by a small variation of the image displayed in the detected area.

19. A processing apparatus for displaying images photographed by plural cameras according to claim 11, wherein the image of the three-dimensional object is displayed in relation to a detected base of the three-dimensional object.

20. A processing apparatus for displaying images photographed by plural cameras according to claim 11, wherein the image of the three-dimensional object is a two observation point image.