Apparatus and method for displaying image of view in front of vehicle

• US 8,170,284 B2
• Filed: 12/27/2005
• Issued: 05/01/2012
• Est. Priority Date: 01/11/2005
• Status: Expired due to Fees

• Current Assignee: Pioneer Corporation
• Original Assignee: Pioneer Corporation
• Inventors: Fujita, Ryujiro
• Primary Examiner(s): JEAN, FRANTZ B
• Application Number:
  US11/794,974
• Publication Number:
  US 20080037828A1
• Time in Patent Office: 2,317 Days
• Field of Search: 382/103, 382/107, 382/154, 382/104, 382/224, 382/260, 382/167, 382/249, 382/106, 701/1, 340/933, 340/988, 348/119
• US Class Current: 382/104
• 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 1/24 in front of the vehicle
• CPC Class Codes: B60R 1/30 providing vision in the non-visible spectrum, e.g. night or infrared vision
• CPC Class Codes: B60R 2300/106 using night vision cameras
• 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 2300/30 characterised by the type of image processing
• CPC Class Codes: B60R 2300/8053 for bad weather conditions or night vision
• CPC Class Codes: G06T 11/001 Texturing; Colouring; Generation of texture or colour inpainting G06T5/77
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

An apparatus and a method for displaying an image of a view in front of a vehicle, each of which detects edges in a monochrome image obtained by a camera, which is mounted on the vehicle and photographs a view in front of the vehicle, to generate an edge image indicative of the detected edges only, determines an object forming an area surrounded with edges in the edge image; and assigns a color to the determined object for each edge-surrounded area of the edge image in order to make an estimated color image.

Claims

1. An apparatus for converting a monochrome image to an estimated color image so as to display the estimated color image, the apparatus comprising:

a camera which is configured to be mounted on a vehicle and which photographs;

a view from the vehicle and outputs the monochrome image which includes a background, a road, a left view, and right view;

an edge image generating portion which detects edges in the monochrome image to generate an edge image indicative of the detected edges only;

a four-division portion which divides the edge image into four areas, an upper area corresponding to the background, a lower area corresponding to the road, a left area corresponding to the left view and a right area corresponding to the right view with two cross lines;

a white line recognizing portion which recognizes a white line on the road in accordance with the edge image in the lower area;

an object determining portion which determines an object forming the edge image in each of the upper, left and right areas; and

an estimated color image making portion which assigns a color to each white line recognized by the white line recognizing portion and the object determined by the object determining portion for each of the upper, left and right areas in order to make the estimated color image.

2. The apparatus according to claim 1, wherein said object determining portion includes:

a fractal dimension analysing portion which performs fractal dimension analysis on the edge image for each of the edge image in the upper, left and right areas; and

an object specifying portion which specifies an object corresponding to an analysed result of the fractal dimension analysis for each of the edge image in the upper, left and right areas, and

wherein said estimated color image making portion includes;

a converting portion which converts a portion of the white line on the road in the lower area recognized by said white line recognizing portion into a white color and converts a portion other than the white line portion on the road into a gray color; and

a color setting portion, having a color table indicative of correspondence relations between objects and colors, which sets a color corresponding to an object specified by said object specifying portion using the color table to convert a portion of the object of the edge image into the set color.

3. The apparatus according to claim 2, wherein said fractal dimension analysing portion includes:

a small-area division portion which divides the upper, left and right areas into small square areas;

a fractal dimension calculating portion which calculates a fractal dimension value for each of the small square areas; and

an average calculating portion which calculates an average value of fractal dimension values calculated by said fractal dimension calculating portion for each edge-surrounded area to obtain the average value as the analysed result.

4. The apparatus according to claim 2, wherein said object specifying portion has the color table indicative of correspondence relations between, various objects and colors for each of the lower, left and right areas, and specifies, using the color table, an object corresponding to a fractal dimension value analysed by said fractal dimension analysing portion.

5. The apparatus according to claim 1, wherein the two cross lines comprise two diagonal lines.

6. The apparatus according to claim 1, wherein the four-division portion divides the edge image into the four areas with lines connecting from a vanishing point of the road to four corners of the edge image.

7. The apparatus according to claim 1, wherein said camera comprises a near-infrared camera which photographs a view in front of the vehicle, and includes a near-infrared emitter that emits near-infrared light in a direction of photographing by said near-infrared camera.

8. The apparatus according to claim 1, further comprising:

a combining portion which combines a route guide image of a navigation device with the estimated color image made by said estimated color image making portion; and

display portion which displays a combined image by said combining portion.

9. The apparatus according to claim 1, wherein the camera is configured to be mounted on a front of the vehicle.

10. The apparatus according to claim 1, wherein the object determining portion determines the object based on an object table.

11. The apparatus according to claim 1, further comprising a storage device which stores a color table that correlates colors to objects.

12. The apparatus according to claim 1, wherein the object determining portion comprises a fractal dimension analyzing portion that calculates an average value of a plurality of fractal dimension values of the edge image.

13. The apparatus according to claim 12, wherein the average value of the plurality of fractal dimension values is used to determine the object.

14. The apparatus according to claim 12, wherein the estimated color image making portion assigns the color to the object based on the average value of the plurality of fractal dimension values.

15. A method for converting a monochrome image to an estimated color image so as to display the estimated color image, the method comprising:

obtaining the monochrome image with a camera, which is configured to be mounted on a vehicle and photographing a view from the vehicle, and the monochrome including a background, a road, a left view, and a right view;

detecting edges in the monochrome image to generate an edge image indicative of the detected edges only;

dividing the edge image into four areas, an upper area corresponding to the background, a lower area corresponding to the road, a left area corresponding to the left view and a right area corresponding e right view with two cross lines;

recognizing a white line on the road in with accordance with the edge image in the lower area;

determining an object forming the edge image in each of the upper, left, and right areas; and

assigning a color to each white line recognized on the road and the object determined by the forming of the edge image for each of the upper, left and right areas in order to make the estimated color image.