IMAGE PROCESSOR, DRIVING ASSISTANCE SYSTEM, AND OUT-OF-POSITION DETECTING METHOD
First Claim
1. An image processor, comprising:
- an image converter configured to convert a first image into a first projection image projected on a plane and to convert a second image into a second projection image projected on a plane, the first image acquired by imaging a first target region around a vehicle captured with a first vehicle camera, the second image acquired by imaging a second target region captured with a second vehicle camera, wherein the second target region overlaps the first target region;
an image synthesizer configured to synthesize an image from the first projection image and the second projection image;
a solid object determination unit configured to detect a solid object in the overlapping region from the first projection image and the second projection image;
a difference calculator configured to calculate, when the solid object determination unit detects the absence of a solid object, a difference between an image corresponding to the overlapping region within the first projection image, and an image corresponding to the overlapping region within the second projection image; and
a detector configured to detect movement of at least the first vehicle camera or the second vehicle camera out of position by comparing between the calculated difference and a threshold value.
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Abstract
A driving assistance system that projects images imaged by multiple vehicle cameras onto a plane, and synthesizes projection images from images obtained at different times to accurately determine whether the vehicle cameras have moved out of their proper positions or imaging directions. The system includes: first and second in-vehicle cameras that capture first and second images, respectively. The cameras capture overlapping regions respectively in different directions. An image converter converts the first and second images into first and second projection images projected onto a plane. A solid object detection unit determines whether a solid object exists in the overlapping region. When no solid object exists, the images of the overlapping regions within the first and second projection images are compared to generate a comparison value. The comparison value is in turn compared with a threshold value for the determination of vehicle camera movement out of its proper position.
43 Citations
15 Claims
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1. An image processor, comprising:
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an image converter configured to convert a first image into a first projection image projected on a plane and to convert a second image into a second projection image projected on a plane, the first image acquired by imaging a first target region around a vehicle captured with a first vehicle camera, the second image acquired by imaging a second target region captured with a second vehicle camera, wherein the second target region overlaps the first target region; an image synthesizer configured to synthesize an image from the first projection image and the second projection image; a solid object determination unit configured to detect a solid object in the overlapping region from the first projection image and the second projection image; a difference calculator configured to calculate, when the solid object determination unit detects the absence of a solid object, a difference between an image corresponding to the overlapping region within the first projection image, and an image corresponding to the overlapping region within the second projection image; and a detector configured to detect movement of at least the first vehicle camera or the second vehicle camera out of position by comparing between the calculated difference and a threshold value. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An image processor, comprising:
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an image converter configured to convert a first image into a first projection image projected on a plane, the first image acquired by imaging a first target region around a vehicle captured with a first vehicle camera, and to convert a second image into a second projection image projected on a plane, the second image acquired by imaging a second target region having a region that overlaps the first target region, the second image captured with a second vehicle camera; an image synthesizer configured to generate a synthesis image from the first and second projection images; a difference calculator configured to calculate a difference between images that correspond to the overlapping regions within the first and second projection images; and a detector configured to detect movement of at least the first vehicle camera or the second vehicle camera out of position, based on the number of times that the difference calculated by the difference calculator consecutively is equal or greater to a threshold value.
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8. A driving assistance system, comprising:
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a first vehicle camera configured to image a first target region around a vehicle; a first acquisition unit configured to acquire a first image imaged by the first vehicle camera; a second vehicle camera configured to image a second target region around the vehicle; and a second acquisition unit configured to acquire a second image imaged by the second vehicle camera; an image converter configured to convert a first image into a first projection image projected on a plane and to convert a second image into a second projection image projected on a plane, the first image acquired by imaging a first target region around a vehicle captured with a first vehicle camera, the second image acquired by imaging a second target region captured with a second vehicle camera, wherein the second target region overlaps the first target region; an image synthesizer configured to synthesize an image from the first projection image and the second projection image; a solid object determination unit configured to detect a solid object in the overlapping region from the first projection image and the second projection image; a difference calculator configured to calculate, when the solid object determination unit determines the absence of a solid object, a difference between an image corresponding to the overlapping region within the first projection image, and an image corresponding to the overlapping region within the second projection image; and a detector configured to detect movement at least the first vehicle camera or the second vehicle camera out of position by comparing between the calculated difference and a threshold value.
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9. An out-of-position detecting method, comprising:
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converting a first image into a first projection image projected on a plane, the first image acquired by imaging a first target region around a vehicle from a first vehicle camera; converting a second image into a second projection image projected on a plane, the second image acquired by imaging a second target region having a region that overlaps the first target region, from a second vehicle camera; generating a synthesis image from the first and second projection images; detecting a solid object in the overlapping region; calculating, when no solid object is detected, a difference between an image corresponding to the overlapping region within the first projection image, and an image corresponding to the overlapping region within the second projection image; and detecting movement of at least the first vehicle camera or the second vehicle camera out of position by comparing the calculated difference and a threshold value. - View Dependent Claims (10, 11, 12, 13, 14)
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15. An out-of-position detecting method, comprising:
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obtaining a first image of a first target region around a vehicle with a first vehicle camera, and converting the first image into a first projection image projected onto a plane; obtaining a second image of a second overlapping target region around the vehicle with a second vehicle camera, and converting the second image into a second projection image projected on a plane, synthesizing the first projection image and the second projection image into a synthesis image; comparing the overlapping regions of the first and second projection images to generate comparison results; and detecting movement of at least the first vehicle camera or the second vehicle camera out of position based on the number of times that the calculated difference is consecutively equal or greater to a threshold value.
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Specification