Image processing apparatus, image processing method, and computer-readable recording medium

• US 9,591,280 B2
• Filed: 01/28/2014
• Issued: 03/07/2017
• Est. Priority Date: 07/29/2011
• Status: Expired due to Fees

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Shimizu, Seiya
• Primary Examiner(s): Rao, Andy
• Assistant Examiner(s): Edwards, Tyler
• Application Number:
  US14/165,632
• Publication Number:
  US 20140139640A1
• Time in Patent Office: 1,134 Days
• US Class Current: 1/1
• CPC Class Codes: G06T 3/12 Panospheric to cylindrical image transformations
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: H04N 13/106 Processing image signals for multi-view video sequence encoding H04N19/597

Abstract

An image processing apparatus includes a coordinate conversion unit and a drawing unit. The coordinate conversion unit obtains a coordinate of an intersection P_VG between a stereoscopic projection plane and a line connecting a ground point P_RG of a stereoscopic object and a virtual viewpoint position V_P, and a coordinate of an intersection P_V between a line extending upward from the intersection P_VG and a line connecting a point P_R of the stereoscopic object and the virtual viewpoint position V_P. The drawing unit projects an image of the ground point P_RG of the stereoscopic object at the position of the coordinate of P_VG, and projects the image of P_R of the stereoscopic object at the position of P_V.

Claims

1. An image processing apparatus comprising:

a memory; and

a processor coupled to the memory, wherein the processor executes a process comprising;

measuring a top position of an object using a range sensor, the object located outside of a stereoscopic projection plane;

calculating a coordinate of a first intersection (P_VG) representing an intersection between the stereoscopic projection plane and a first line connecting a virtual viewpoint and an intersection (P_RG) between a plane and a line extending downward from the top position of the object, and a coordinate of a second intersection (P_V) representing an intersection between a line extending upward from the first intersection (P_VG) and a line connecting the top position of the object and the virtual viewpoint, an angle between the first line and a second line is a predetermined angle, the second line being a line that extends vertically downward from the top position of the object; and

projecting an image of the object to the coordinate of the second intersection (P_V).

2. The image processing apparatus according to claim 1, wherein the process further comprises drawing a camera image for the stereoscopic projection plane based on information including a correlation between a coordinate on the camera image and a coordinate on the stereoscopic projection plane.

3. The image processing apparatus according to claim 2, wherein the calculating calculates a ground point which is an intersection between a ground plane and a line extending downward from a point on the object at an angle in a predetermined range, and the coordinate of the second intersection representing an intersection between a line connecting the virtual viewpoint and a point on an opposite side of the ground point of the object and a line extending upward from the first intersection at an angle in a predetermined range.

4. The image processing apparatus according to claim 1, wherein the process further comprises generating a virtual stereoscopic model, and the calculating calculates the first intersection and the second intersection relative to the stereoscopic model, and the projecting projects the stereoscopic model to the stereoscopic projection plane based on the first intersection and the second intersection relative to the stereoscopic model.

5. An image processing method executed by a computer, the method comprising:

measuring a top position of an object using a range sensor, the object located outside of a stereoscopic projection plane;

calculating a coordinate of a first intersection (P_VG) representing an intersection between the stereoscopic projection plane and a first line connecting a virtual viewpoint and an intersection (P_RG) between a plane and a line extending downward from the top position of the object, and a coordinate of a second intersection (P_V) representing an intersection between a line extending upward from the first intersection (P_VG) and a line connecting the top position of the object and the virtual viewpoint, an angle between the first line and a second line is a predetermined angle, the second line being a line that extends vertically downward from the top position of the object; and

projecting an image of the object to the calculated second intersection (P_V).

6. A non-transitory computer-readable recording medium having stored therein a program for causing a computer to execute an image process comprising:

measuring a top position of an object using a range sensor, the object located outside of a stereoscopic projection plane;

calculating a coordinate of a first intersection (P_VG) representing an intersection between the stereoscopic projection plane and a first line connecting a virtual viewpoint and an intersection (P_RG) between a plane and a line extending downward from the top position of the object, and a coordinate of a second intersection (P_V) representing an intersection between a line extending upward from the first intersection (P_VG) and a line connecting the top position of the object and the virtual viewpoint, an angle between the first line and a second line is a predetermined angle, the second line being a line that extends vertically downward from the top position of the object; and

projecting an image of the object to the calculated second intersection (P_V).