Vehicle image processing apparatus and vehicle image processing method
First Claim
1. A vehicle image processing apparatus comprising:
- a distortion correction unit that acquires a captured image which is an image that has captured an area around a vehicle with use of at least one camera;
a drawing unit that uses at least one predetermined projection shape to convert the captured image into an image viewed along a virtual line of sight that is a line of sight running from a predetermined position in a predetermined direction;
a viewing-line-of-sight changing unit that detects whether a virtual line of sight is switched from a position of a first virtual line of sight to a position of a second virtual line of sight which is a different virtual line of sight, the position of the first virtual line of sight associated with a parameter value of at least one selected from a predetermined position and a direction of the virtual line of sight and the position of the second virtual line of sight being associated with a parameter value different from the parameter value associated with the position of the first virtual line of sight;
a viewing-line-of-sight generation/updating unit that acquires at least one type of parameter value associated with a virtual line of sight for each position of the first virtual line of sight and the second virtual line of sight after detecting that the virtual line of sight is switched from the position of the first virtual line of sight to the position of the second virtual line of sight, and generates a parameter value of a position of a virtual line of sight that is gradually changed along a predetermined path connecting the position of the first virtual line of sight and the position of the second virtual line of sight; and
a projection image conversion unit that converts the captured image to an image viewed along the first virtual line of sight using a projection map which includes a relationship between a position of a pixel of the captured image and a position of a pixel of an image viewed along the first virtual line of sight, and generates the converted image to be viewed from the second virtual line of sight using a predetermined projection shape including display of a movement path of the predetermined projection shape from the first virtual line of sight to the second virtual line of sight,wherein the drawing unit illustrates the movement path of the predetermined projection shape in the converted image based on the generated parameter value so that the converted image is gradually changed from a first image viewed along the position of the first virtual line of sight to a second image viewed along the position of the second virtual line of sight, andwherein the viewing-line-of-sight changing unit detects that the position of the first virtual line of sight is switched to the position of the second virtual line of sight when a switching occurs of a pre-registered virtual line of sight or when a difference between unchanged and changed virtual lines of sight is greater than or equal to a specified value.
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Accused Products
Abstract
A vehicle image processing apparatus includes a group of cameras, a drawing unit that converts a captured image into an image viewed along a line of sight running from a predetermined position in a predetermined direction, a viewing-line-of-sight changing unit that detects whether a first line of sight is switched to a second line of sight, and a viewing-line-of-sight generation/updating unit that acquires parameters concerning the first and second lines of sight after detecting the switching and generates a parameter which is gradually changed from the parameter of the first line of sight to the parameter of the second line of sight. Moreover, the drawing unit generates, on the basis of the gradually changed parameter, an image which is gradually changed from an image viewed along the first line of sight to an image viewed along the second line of sight.
9 Citations
12 Claims
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1. A vehicle image processing apparatus comprising:
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a distortion correction unit that acquires a captured image which is an image that has captured an area around a vehicle with use of at least one camera; a drawing unit that uses at least one predetermined projection shape to convert the captured image into an image viewed along a virtual line of sight that is a line of sight running from a predetermined position in a predetermined direction; a viewing-line-of-sight changing unit that detects whether a virtual line of sight is switched from a position of a first virtual line of sight to a position of a second virtual line of sight which is a different virtual line of sight, the position of the first virtual line of sight associated with a parameter value of at least one selected from a predetermined position and a direction of the virtual line of sight and the position of the second virtual line of sight being associated with a parameter value different from the parameter value associated with the position of the first virtual line of sight; a viewing-line-of-sight generation/updating unit that acquires at least one type of parameter value associated with a virtual line of sight for each position of the first virtual line of sight and the second virtual line of sight after detecting that the virtual line of sight is switched from the position of the first virtual line of sight to the position of the second virtual line of sight, and generates a parameter value of a position of a virtual line of sight that is gradually changed along a predetermined path connecting the position of the first virtual line of sight and the position of the second virtual line of sight; and a projection image conversion unit that converts the captured image to an image viewed along the first virtual line of sight using a projection map which includes a relationship between a position of a pixel of the captured image and a position of a pixel of an image viewed along the first virtual line of sight, and generates the converted image to be viewed from the second virtual line of sight using a predetermined projection shape including display of a movement path of the predetermined projection shape from the first virtual line of sight to the second virtual line of sight, wherein the drawing unit illustrates the movement path of the predetermined projection shape in the converted image based on the generated parameter value so that the converted image is gradually changed from a first image viewed along the position of the first virtual line of sight to a second image viewed along the position of the second virtual line of sight, and wherein the viewing-line-of-sight changing unit detects that the position of the first virtual line of sight is switched to the position of the second virtual line of sight when a switching occurs of a pre-registered virtual line of sight or when a difference between unchanged and changed virtual lines of sight is greater than or equal to a specified value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification