IMAGE GENERATOR

• US 20140055487A1
• Filed: 06/10/2013
• Published: 02/27/2014
• Est. Priority Date: 08/21/2012
• Status: Active Grant

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: KIYO, Kouei, YAMADA, Masahiro, SAWADA, Yasuyoshi, HAYASHIDA, Takumi
• Granted Patent: US 9,493,120 B2
• Time in Patent Office: Days
• US Class Current: 345/629
• 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 1/002 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like integrated in the windows B60R1/001; combined with rear-view mirrors B60R1/08
• CPC Class Codes: B60R 1/27 providing all-round vision, e.g. using omnidirectional cameras
• CPC Class Codes: B60R 2300/303 using joined images, e.g. multiple camera images
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 15/205 Image-based rendering
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

An image acquisition part acquires a plurality of shot images captured by a plurality of cameras disposed on a vehicle, each of the plurality of shot images showing a periphery of the vehicle. An image composer projects data of the plurality of shot images onto a virtual projection surface corresponding to the periphery of the vehicle, and generates a composite image showing the periphery of the vehicle viewed from a virtual viewpoint, using the data projected onto the virtual projection surface. The image composer uses, as the virtual projection surface, a special virtual projection surface that includes a curved area having an upward convex curve. The curved area includes an area where a distance from a location of the vehicle is relatively short and a slope is relatively high, and another area where the distance from the location of the vehicle is relatively long and the slope is relatively low.

Claims

1. An image generator that is used in a vehicle, the image generator comprising:

an acquisition part that acquires a plurality of shot images captured by a plurality of cameras disposed on the vehicle, each of the plurality of shot images showing a periphery of the vehicle; and

a generator that projects data of the plurality of shot images onto a virtual projection surface which corresponds to the periphery of the vehicle, and that generates a composite image showing the periphery of the vehicle viewed from a virtual viewpoint, by use of the data projected onto the virtual projection surface, wherein

the virtual projection surface includes a first virtual projection surface that has

an area where a distance from a location of the vehicle is relatively short and a slope is relatively high, and

another area where the distance from the location of the vehicle is relatively long and the slope is relatively low.

2. The image generator of claim 1, wherein

the first virtual projection surface has an upward convex curve.

3. The image generator of claim 1, wherein

the slope of a part of the first virtual projection surface opposed to one of a front face and a back face of the vehicle is higher than the slope of another part of the first virtual projection surface opposed to one of side faces of the vehicle.

4. The image generator of claim 1, wherein,

the generator selectively uses the first virtual projection surface and a second virtual projection surface that is created in a different shape from the first virtual projection surface, and

the second virtual projection surface includes an area that is substantially horizontal and is in contact with the location of the vehicle.

5. The image generator of claim 4, wherein

the generator

generates, as the composite image, either a full composite image showing a whole area of the periphery of the vehicle or an enlarged composite image showing a partially-enlarged vicinity of the vehicle,

uses the second virtual projection surface to generate the full composite image, and

uses the first virtual projection surface to generate the enlarged composite image.

6. The image generator of claim 4, wherein

the generator

uses the second virtual projection surface when a detector that detects an object existing in a vicinity of the vehicle has not detected the object, and

uses the first virtual projection surface when the detector has detected the object.

7. The image generator of claim 1, wherein

the generator changes the slope of the first virtual projection surface in accordance with a height of an object detected by a detector that detects the object existing in a vicinity of the vehicle.

8. The image generator of claim 1, wherein

the relatively high slope deviates from horizontal more than the relatively low slope deviates from horizontal.

9. An image display system that is used in a vehicle, the image display system comprising:

an acquisition part that acquires a plurality of shot images captured by a plurality of cameras disposed on the vehicle, each of the plurality of shot images showing a periphery of the vehicle;

a generator that projects data of the plurality of shot images onto a virtual projection surface which corresponds to the periphery of the vehicle, and that generates a composite image showing the periphery of the vehicle viewed from a virtual viewpoint, by use of the data projected onto the virtual projection surface; and

a display that shows the composite image, wherein

the virtual projection surface includes a first virtual projection surface that has

an area where a distance from a location of the vehicle is relatively short and a slope is relatively high, and

another area where the distance from the location of the vehicle is relatively long and the slope is relatively low.

10. The image display system of claim 9, wherein

the relatively high slope deviates from horizontal more than the relatively low slope deviates from horizontal.

11. An image generation method for use in a vehicle, the image generation method comprising the steps of:

(a) acquiring a plurality of shot images captured by a plurality of cameras disposed on the vehicle, each of the plurality of shot images showing a periphery of the vehicle; and

(b) projecting data of the plurality of shot images onto a virtual projection surface which corresponds to the periphery of the vehicle, and generating a composite image showing the periphery of the vehicle viewed from a virtual viewpoint, by use of the data projected onto the virtual projection surface, wherein

the virtual projection surface used in the step (b) includes a first virtual projection surface that has

an area where a distance from a location of the vehicle is relatively short and a slope is relatively high, and

another area where the distance from the location of the vehicle is relatively long and the slope is relatively low.

12. The image generation method of claim 11, wherein

the first virtual projection surface has an upward convex curve.

13. The image generation method of claim 11, wherein

the slope of a part of the first virtual projection surface opposed to one of a front face and a back face of the vehicle is higher than the slope of another part of the first virtual projection surface opposed to one of side faces of the vehicle.

14. The image generation method of claim 11, wherein

the step (b) selectively uses the first virtual projection surface and a second virtual projection surface that is created in a different shape from the first virtual projection surface, and

the second virtual projection surface includes an area that is substantially horizontal and is in contact with the location of the vehicle.

15. The image generation method of claim 14, wherein

the step (b)

generates, as the composite image, either a full composite image showing a whole area of the periphery of the vehicle or an enlarged composite image showing a partially-enlarged vicinity of the vehicle,

uses the second virtual projection surface to generate the full composite image, and

uses the first virtual projection surface to generate the enlarged composite image.

16. The image generation method of claim 14, wherein

the step (b)

uses the second virtual projection surface when a detector that detects an object existing in a vicinity of the vehicle has not detected the object, and

uses the first virtual projection surface when the detector has detected the object.

17. The image generation method of claim 11, wherein

the step (b) changes the slope of the first virtual projection surface in accordance with a height of an object detected by a detector that detects the object existing in a vicinity of the vehicle.

18. The image generation method of claim 11, wherein

the relatively high slope deviates from horizontal more than the relatively low slope deviates from horizontal.