JP4364471B2 - Image processing apparatus for vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an image processing apparatus for a vehicle, and more particularly to an image processing apparatus that generates an image that displays a blind spot of a driver.
[0002]
[Prior art]
When the driver operates the vehicle, there is a blind spot that is obstructed by the body of the car and the like that can be recognized from the viewpoint of the driver sitting in the driver's seat. Such a blind spot can be recognized to some extent by a room mirror, a side mirror, or the like. Recently, there has also been proposed a vehicle that is equipped with a camera that displays the outside of the vehicle and displays an image acquired by the camera on a monitor in the vehicle. For example, a camera that projects the rear of the vehicle is mounted, and when the vehicle moves backward, the rear blind spot is displayed on the in-car monitor, and assists in confirming the rear when entering a garage or the like.
Japanese Patent Application Laid-Open No. 10-264723 describes an apparatus that displays an image oriented in accordance with the driver's vision.
[0003]
[Problems to be solved by the invention]
On the other hand, when a driver operates a vehicle in which the surroundings of the vehicle cannot be recognized by a conventional camera image or the like, an external obstacle entering the field of view and the interior scenery (window frame or trunk contours) entering the field of view simultaneously. From the above, the driver senses how much the relative position and distance between the external obstacle and the vehicle are.
However, since the conventional camera image display displays the image displayed on the camera as it is on the monitor, the image displayed on the monitor is different from the image shown to the naked eye of the driver. This is because the position of the camera viewpoint is different from the viewpoint position when the driver operates, and the size of the obstacle that can be grasped by the naked eye and the size of the obstacle displayed on the monitor are different. The reason is given. Also, in the past, the driver recognized the scenery outside the vehicle entering the field of view and a part of the vehicle body (window frame, bonnet, etc.) at the same time, and grasped their relative positions sensuously. Another reason is that only the external scenery is projected.
In other words, in a conventional monitor image, it is difficult for a driver who has conventionally sensed a sense of distance to grasp the positional relationship between the outline of the vehicle and surrounding objects based on the sense that he has conventionally worn. There was a problem.
[0004]
The present invention provides an image synthesized for a blind spot area around a vehicle, reduces anxiety about the blind spot, and generates a captured image from a position close to the driver's viewpoint, thereby allowing the image to pass through the image. It is intended to make it easier for the driver to grasp the positional relationship between the vehicle and surrounding obstacles.
[0005]
[Means for Solving the Problems]
The above object is achieved by the present invention described below.
(1) a first imaging unit that is arranged outside the vehicle and acquires an image of the traveling direction of the vehicle;
Imaging position conversion means for converting the image acquired by the first imaging means into an image obtained by converting the imaging position outside the vehicle body to the viewpoint position of the driver;
A second imaging means arranged in the vehicle for obtaining an image of the traveling direction of the vehicle as viewed from the driver's viewpoint;
A viewing area for generating an image in which a blind spot area is cut out by extracting a part showing the exterior of the vehicle from the image acquired by the second imaging means or deleting a part showing the interior of the vehicle Image generating means ;
Image combining means for obtaining a combined image obtained by superimposing the image obtained by the imaging position converting means and the image obtained by the visual recognition area image generating means ;
An image processing apparatus for a vehicle, comprising: display means for displaying a composite image obtained by the image composition means .
[0008]
(2) has a contour detecting unit for detecting a contour line of the vehicle body shape, the contour detected by the contour detecting unit, to display on the viewpoint transformed image by the image pickup position converting means The image processing apparatus for a vehicle according to (1 ), further comprising contour image synthesis means for synthesizing.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a block diagram showing a configuration of an image processing apparatus 1 according to the present invention. The image processing apparatus 1 includes an arithmetic processing unit 12 that performs image processing, a blind spot camera 13a as a first imaging unit, a driver viewpoint camera 13b as a second imaging unit, and a display unit that displays an image. An image display device 14, a current position detection device 15, and a storage device 16 as image storage means are provided, and these devices are connected to each other via a system bus 17.
[0011]
The blind spot camera 13a uses a wide-angle lens, and a fisheye lens is used in this embodiment. The blind spot camera 13a is provided outside the vehicle, for example, and is attached toward the traveling direction of the vehicle. In the case of a camera that acquires an image of the rear part of the vehicle when going backward, for example, in the center part of the rear trunk or a hatchback type vehicle, it can be attached to the rear window toward the outside. In this embodiment, it is arranged at the center position of the rear trunk. In addition, the driver viewpoint camera 13b is provided, for example, in a car, and is attached to the driver's viewpoint position. In this embodiment, it is arrange | positioned in the attachment position of a rearview mirror.
[0012]
The blind spot camera 13a and the driver viewpoint camera 13b are connected to the system bus 17 via A / D converters 131a and 131b, respectively. The image signals output from the blind spot cameras 13a and 13b are converted into digital signals by the A / D converters 131a and 131b, respectively. Further, when the connected blind spot camera 13a and driver viewpoint camera 13b can output digital signals, the A / D converters 131a and 131b are not necessary. The blind spot camera 13a and the driver viewpoint camera 13b include those arranged toward the front of the vehicle and those arranged toward the rear of the vehicle. In the following description, a blind spot camera 13a and a driver viewpoint camera 13b that are used when moving to the rear where the field of view is most limited will be described as an example.
[0013]
The current position detection device 15 includes a steering angle sensor 151, a vehicle speed sensor 152, a GPS reception device 153, an orientation sensor 154, and a distance sensor 155. The steering angle sensor 151 detects the steering angle of the vehicle. The steering angle is obtained by detecting the rotation angle of the steering wheel or the angle of the front wheel. The vehicle speed sensor 152 detects the traveling speed of the vehicle. The traveling speed is also detected when the vehicle is moved backward. The GPS receiver 153 detects the absolute position of the vehicle. The direction sensor 154 detects the direction of the vehicle. The distance sensor 155 detects the moving distance of the vehicle. The travel distance of the vehicle can be obtained by the various sensors described above. That is, the moving distance can be detected by the distance sensor 155. Further, the travel distance can be detected based on the vehicle speed and time detected by the vehicle speed sensor 152. Further, the moving distance can be detected from the locus of the position detected by the GPS receiver 153. Further, when the direction of the vehicle changes, the travel distance and the direction of the vehicle can be detected more accurately by the steering angle sensor 151, the direction sensor 154, the distance sensor 155, or the vehicle speed sensor 152.
[0014]
The storage device 16 is a device for storing images captured by the blind spot camera 13a and the driver viewpoint camera 13b. Images output from the blind spot camera 13a and the driver viewpoint camera 13b are continuously stored, and the first imaging unit is used. Are generated from the external image data memory 162 in which the image acquired by the blind spot camera 13a is stored, the viewpoint image data memory 161 in which the viewpoint image acquired by the driver viewpoint camera 13b is stored, and the viewpoint image and image data memory 162. And a synthesized image data memory 163 in which an image obtained by synthesizing the converted external image is stored.
[0015]
The image display device 14 is composed of a liquid crystal display, for example, and displays a composite image stored in the composite image data memory 163. Data sent to the image display device 14 is converted into an analog signal via the D / A converter 141. Further, when the image display device 14 can input a digital signal, the D / A converter is not necessary.
[0016]
The arithmetic processing unit 12 includes a central processing unit [CPU (Central Processing Unit)] 121, a read-only memory [ROM] 122, and a random access memory [RAM] 123. The central processing unit 121 acquires information on the moving distance and the vehicle direction obtained from the current position detection device 15, acquires viewpoint image data and external image data from the storage device 16, and uses these data. Various arithmetic processes such as generation of composite image data are performed.
The ROM 122 stores, for example, software for the central processing unit 121 to perform image processing, image data of the outline of the vehicle body, and the like, and the RAM 123 is used as a working area, for example.
[0017]
The image processing apparatus of the present invention operates as follows. FIG. 2 is an overall side view of a vehicle 21 equipped with the image processing apparatus of the present invention. The driver viewpoint camera 13b as the second image pickup means for projecting the rear of the vehicle is disposed in the vehicle, and a scene behind the vehicle is projected on a part of the screen through, for example, a back window. (Visible region a). In the other area on the screen, the interior of the vehicle is displayed, and the back seat and other interiors are displayed on the screen. The portion in which the interior of the vehicle is projected becomes a blind spot. For example, a region close to the vehicle behind the vehicle, a region close to the left and right side surfaces of the rear of the vehicle, and the like are blind spots hidden by the vehicle body.
[0018]
On the other hand, an image behind the vehicle 21 is displayed on the blind spot camera 13a which is the first imaging means. In this image, the scenery behind the vehicle is displayed (area b), including the image in the blind spot area in the image (viewpoint image) projected by the driver viewpoint camera 13b. For example, a region close to the vehicle behind the vehicle, a region close to the left and right side surfaces of the rear of the vehicle, and the like, and an object in the viewable region displayed in the viewpoint image is captured in the image (that is, the region b is Region a). However, since the blind spot camera 13a is not provided at the viewpoint position of the driver, the external image is different from an image that can be recognized from the viewpoint position of the driver.
[0019]
The external image is image-processed into an image when the imaging position is the viewpoint position (position of the driver viewpoint camera 13b), and the processed image is combined with the image (viewpoint image) of the driver viewpoint camera 13b. Fill the blind spot area with external images. Thereby, an image at the viewpoint position of the driver without a blind spot area is obtained.
The installation position of the driver viewpoint camera 13b is most preferably the position of the driver's viewpoint, but may be a position close to the position of this viewpoint. For example, in addition to the position of the rearview mirror, the vicinity of the center of the dashboard, the position of the shoulder of the seat, and the like can be mentioned. When no camera is installed at the viewpoint position, viewpoint conversion processing may be performed based on vehicle body data stored in advance to process the image as viewed from the viewpoint position.
[0020]
The operation of the image processing apparatus 1 of the present invention configured as described above will be described. 3, 4, and 5 are flowcharts showing the operation of the arithmetic processing unit 12.
The power switch is turned on by turning on the ignition switch (step S100). In addition, the switch-on may be triggered when the shift change lever is set to the D position and to the rear position when the rearward image is displayed.
[0021]
Next, initialization processing is performed (step S101). Specifically, the data stored in the storage device 16 is searched so that image data or the like can be written to the storage area, and if there is no storable area, the next acquired data can be overwritten. In addition, referring to the distance and time stored together with the image data, it prepares to write data such as deleting data that will not be used in the future. For example, a variable for monitoring a set value for determining whether to update the stored data of the image stored in the viewpoint image data memory 161, the external image data memory 162, or the like is initialized.
[0022]
Next, it is determined whether or not the vehicle speed exceeds a predetermined set speed (step S102). Since this embodiment is used for recognizing the periphery of the vehicle, it is used for the purpose of width adjustment, garage storage, and the like. Therefore, if the set speed is exceeded, step S102 is repeated again. This set speed may be changed as necessary. If not, it is determined that image processing is necessary, and in order to perform image processing, the process proceeds to the next step, and an in-vehicle image processing routine (step S103) is started.
[0023]
FIG. 4 is a flowchart showing an in-vehicle image processing routine. FIG. 6 is a flowchart showing the procedure of image processing. Hereinafter, the contents of image processing will be described based on this diagram.
In the in-vehicle image processing routine (step S103), a viewpoint image projected from the viewpoint position is acquired by the driver viewpoint camera 13b (step S201).
The acquired image is temporarily stored in the viewpoint image data memory 161 (step S204). The viewpoint image B0 is read out from the viewpoint image data memory 161, and the blind spot area, that is, the part in which the inside of the vehicle is reflected is cut out from the image to generate the visual recognition area image B1 (step S205). This step S205 constitutes an image extraction means. In this cut-out process, first, a process (contour extraction step) is performed to extract the contour of the part in the car that is shown from the original viewpoint image acquired first. A known image processing method can be used as the contour detection method. For example, a contour enhancement process can be performed by a Sobel filter process or a Laplacian filter process to extract only the contour line. Then, by using the extracted outline as a boundary line, a portion where the outside of the vehicle is shown is extracted, or a portion where the inside of the vehicle is shown is deleted, so that the blind spot area can be cut out. This contour extraction step constitutes a contour line detecting means.
[0024]
Following the vehicle interior image processing routine (step S103), the vehicle exterior image processing routine (step S104) is started. FIG. 5 is a flowchart showing a vehicle exterior image processing routine.
In the outside image processing routine (step S104), an external image projected by the blind spot camera 13a is acquired (step S301).
The acquired image is temporarily stored in the external image data memory 162 (step S304). The image A0 is read from the external image data memory 162 and image processing is performed. When the blind spot camera 13a uses a fisheye lens, the image A0 is a fisheye image. Therefore, an image location a0 to be used later is cut out from the image A0, and a normal image conversion process is performed on the cut out image a0. (Step S305) to obtain an image A1. Next, since the blind spot camera 13a is not capturing an image at the driver's viewpoint position, the blind spot camera 13a performs a process of converting the imaging position to the driver's viewpoint position (step S306). First, affine transformation processing is performed to match the height of the imaging position.
[0025]
Second, the size of the image A1 is adjusted by a predetermined magnification so as to match the size of the image obtained by the driver viewpoint camera 13b to obtain a converted external image A2. Specifically, a feature area is set for each of the image B1 and the image A1. In this area, a region in which changes in brightness, color, etc. in the image are remarkable and the target is easy to specify is selected. The image set in the feature area requires that the image A1 and the image B1 each capture the same object. Then, the image conversion (the image A1 is enlarged or reduced) is performed so that the size of the object displayed in the feature area becomes the same. The imaging position converting means is configured by step S104 described above.
[0026]
When the processing for the internal image and the external image (steps S103 and S104) is completed, an image composition process (step S105) is performed. This superimposes the image B1 generated in step S103 and the image A2 generated in step S104 to generate a composite image B1 + A2. As a result, the external image A2 is added to the blind spot area of the viewpoint image B1, and an image as if the outside is seen through the vehicle body is generated. This step S105 constitutes an image composition means.
[0027]
Further, the contour 6 is added to the generated composite image B1 + A2, and the final composite image AB to be displayed is generated (step S106). The generated composite image AB is stored in the composite image data memory 163. By this step S106, an outline image composition means is configured.
[0028]
The contour line 6 may be any contour line symbolizing the vehicle body. For example, at least one of the shape of the vehicle body, bumper, light, wiper, instrument panel, handle, mirror, tire, seat, and window may be used. Contour line to include.
In particular, it may be an outline of a part located on the outermost side of the vehicle body, or an outline of a part that is always visually recognized simultaneously with the external scenery when the driver looks at the outside of the vehicle body. The parts located on the outermost side of the car body include the car body, bumpers, lights, tires, side mirrors, etc. The parts that are recognized simultaneously in the field of view are the wiper, instrument panel, handle, rearview mirror, seat, window And the like. By synthesizing the contour line of the part located on the outermost side of the vehicle body, there is an effect that it becomes easy to grasp the distance between the vehicle body and the external obstacle. Also, by synthesizing the contour line of the part recognized by the field of view, an image that approximates the field of view when operating by recognizing with the naked eye can be obtained, so the driver can recognize the external obstacle with the same sensation as previously learned It is possible to grasp the positional relationship with the vehicle.
[0029]
The contour line data is created based on the vehicle body data on which the device of the present invention is installed, and is stored in advance in the storage device 16 or the ROM 122. Alternatively, the contour line extracted in step S205 may be synthesized. In this case, since the actual state of the vehicle body is displayed in the image, the relationship between the external situation in the image and the vehicle body can be grasped more realistically. For example, when moving backward, a figurine placed on the dashboard of the rear window is displayed on the image and can be brought close to the image actually seen with the naked eye. In addition, the configuration is not limited to the configuration in which only the contour line is combined, and the image portion (the image of the portion that generates the blind spot) reflected in the vehicle body or the interior of the vehicle may be combined to be translucent.
[0030]
Next, the final composite image AB is output to the image display device (step S109).
It is determined whether there is a chance to end the system (step S110). For example, when the image processing apparatus of the present invention is switched off or the display of the image apparatus 14 is switched, the system is stopped. Therefore, in the case of Yes in step S110, this image processing flowchart ends (step S113).
[0031]
If there is no opportunity to end the system (step S110: No), it is determined whether the variable initialized in step S101 exceeds the set value (step S111). This variable represents the distance, time, remaining memory, etc.When these values reach a preset value, it returns to the position where data writing was started and old data is deleted. It is rewritten with new image data (step S112). Here, the process returns to step S101, and the variable for monitoring the set value is initialized. If the variable does not exceed the set value in step S111, the process returns to step S102.
[0032]
According to the present embodiment described above, when the outside of the vehicle is viewed from the viewpoint position, an image that is close to the image that appears visually can be obtained. Steering is easy. In addition, since the area that cannot be recognized behind the vehicle is also displayed in the image, it is easier to recognize the surroundings of the vehicle. Furthermore, since the contour line symbolizing the position and size of the vehicle is simultaneously displayed on the screen, it is easy to grasp the distance and positional relationship between the obstacles around the vehicle and the vehicle, and the driving operation is further facilitated.
[0033]
In addition to the configuration described above, an image A2 obtained by viewpoint-converting an external image may be used as a display image, and a contour line 6 may be combined with the image A2. In other words, the external image converted to the viewpoint position by the imaging position converting unit can be displayed as it is on the display unit. In this case, step S103 and step S105 are omitted. Further, since the image synthesizing process becomes unnecessary, the arithmetic processing of the arithmetic processing unit 12 is reduced. The operation described above is an example in the case where the vehicle moves backward, but the same operation is performed even when the vehicle moves forward.
[0034]
Next, the driver viewpoint camera 13b may also use a wide-angle lens. By using a wide-angle lens, even when the vehicle turns, it is not limited to acquiring images only in a single fixed direction such as forward and rearward, but the steering angle and front wheel steering If an angle is detected, an image region corresponding to the angle in the steering direction is extracted, and image processing is performed, an image that matches the visual image of the driver can be displayed. Further, as shown in FIG. 7, blind spots cameras 18c and 18d are also provided on the side of the vehicle, with the blind spot camera 18b provided at the front and the blind spot camera 18a provided at the rear, centering on the vehicle. It can also be set as the structure which acquires the image of all the circumferences. In this case, the driver's viewpoint camera 13b also uses a fish-eye lens that acquires an image of the entire periphery, and is attached to, for example, a ceiling portion in the center of the vehicle or a ceiling portion located directly above the seat on which the driver gets.
[0035]
The vehicle body is provided with a distance detection means such as a distance measuring sensor that measures the distance between the external obstacle and the vehicle body using ultrasonic waves, and the composite image is displayed and the distance to the external obstacle is measured. This is preferable because it makes it easier to grasp the sense of distance. For example, when the distance from the obstacle detected by the ultrasonic sensor is equal to or less than a predetermined distance, an alarm is issued as an auditory signal or the screen is displayed in a red silhouette as a visual signal. can do.
[0036]
An example of the distance detection means as described above will be shown. FIG. 8 is a schematic diagram showing the configuration of the distance detection means. The distance detection means detects the distance from the obstacle in the direction in which the blind spot camera 13a is directed, and is provided in the vicinity of the blind spot camera 13a. The distance detecting unit 3 includes two light projecting units 31 and 32. The light projecting means irradiates light of different colors in a specific direction, and the irradiated light has directivity (light rays) in a predetermined direction. In this embodiment, a light emitting diode is used as the light source of the light projecting means, and the colors of the light source are blue and red, respectively. The light beams emitted from the two light projecting means 31 and 32 are attached so as to incline in the direction in which the other party is located so as to intersect at a predetermined distance L from the light source. The direction in which the light beam is tilted is tilted up and down, and as shown in FIG. 8, when the light beam hits the obstacle, the portion hit by the light beam is projected as a light spot on the surface of the obstacle, Is displayed. In this embodiment, the light projecting means 32 having a red light source is disposed on the lower side, the light projecting means 31 having a blue light source is disposed on the upper side, and the light projecting means 32 emits light rays obliquely upward. The light means 31 irradiates light rays obliquely downward.
[0037]
9 to 11 are diagrams of screens on which the light spots 30a and 30b appear. As shown in FIG. 9, when the distance X from the vehicle to the obstacle is larger than L (X> L), the red light spot 30a is located on the upper side, and the blue light spot 30b is located on the lower side. is doing. As shown in FIG. 10, when the distance to the obstacle becomes L (X = L), the light spots overlap with each other, and a purple light spot in which red and blue are mixed appears. . As shown in FIG. 11, when the distance X from the vehicle to the obstacle is smaller than L (X <L), the red light spot 30a is located on the lower side, and the blue light spot 30b is located on the upper side. is doing. Since such a display is simultaneously displayed on the screen, it is easy to sensibly grasp the length of the distance X based on the distance between the light spots 30a and 30b while looking at the screen.
[0038]
Such distance detecting means 3 may be provided at the left and right corners of the vehicle at the front and rear of the vehicle, as shown in FIG. For example, distance detection means 3F and 3R are provided at the center of the front and rear, distance detection means 3FL and 3FR are provided at the left and right corners of the front, and distance detection means 3RL and 3RR are provided at the left and right corners of the rear. . In this way, for example, as shown in FIG. 13, the distance between the obstacle located on the left side (right side of the screen) and the obstacle located on the right side (left side of the screen) is the light spots 30a, 30b. It is understood that the obstacle located on the left side of the vehicle (the right side of the screen) is closer because the distance is shorter. Thus, the sense of distance from the obstacle located in the left-right direction can also be grasped by the distance of the light spot appearing in the image.
[0039]
【The invention's effect】
According to the first aspect of the present invention, since an image when the imaging position is moved to the position of the viewpoint is obtained, an image approximating the scenery entering the driver's field of view can be obtained, and the vehicle during vehicle operation It becomes easy to grasp the positional relationship between the object and the external obstacle. In addition, since an external image without a blind spot area is obtained, anxiety about the blind spot is reduced. Furthermore, since the image inside the vehicle body is synthesized, an image very close to the driver's view image can be obtained.
[0040]
According to the second aspect of the present invention, when the contour is detected from the acquired image, the actual state of the vehicle body is projected with the contour line, and the sense of reality of the vehicle body received from the image is increased. It becomes easier to grasp. In addition, by synthesizing the contour lines of the shape of each part of the vehicle body with the image, it becomes easier to grasp the positional relationship between the external environment displayed on the screen and the vehicle body.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an image processing apparatus according to the present invention.
FIG. 2 is a side view of a vehicle equipped with the image processing apparatus of the present invention.
FIG. 3 is a flowchart showing the operation of the image processing apparatus of the present invention.
FIG. 4 is a flowchart showing the operation of the image processing apparatus of the present invention.
FIG. 5 is a flowchart showing the operation of the image processing apparatus of the present invention.
FIG. 6 is a flowchart showing a procedure of image processing.
FIG. 7 is a plan view showing a field of view of a camera using a wide-angle lens camera.
FIG. 8 is a schematic diagram illustrating a configuration of a distance detection unit.
FIG. 9 is a diagram showing a screen on which two light spots appear.
FIG. 10 is a diagram showing a screen on which two light spots appear.
FIG. 11 is a diagram showing a screen on which two light spots appear.
FIG. 12 is an overall plan view of the vehicle showing the arrangement position of the distance detection means.
FIG. 13 is a diagram showing a screen on which two light spots appear.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Image processing apparatus 12 Processing apparatus 13a Camera 13b Camera 14 Image display apparatus 15 Current position detection apparatus 16 Storage apparatus 21 Vehicle 3 Distance detection means

Claims (2)

A first imaging means arranged outside the vehicle for acquiring an image of the traveling direction of the vehicle;
Imaging position conversion means for converting the image acquired by the first imaging means into an image obtained by performing viewpoint conversion from the imaging position outside the vehicle body to the viewpoint position of the driver;
A second imaging means disposed in the vehicle for obtaining an image of the traveling direction of the vehicle as viewed from the driver's viewpoint;
A viewing area for generating an image in which a blind spot area is cut out by extracting a part showing the exterior of the vehicle from the image acquired by the second imaging means or deleting a part showing the interior of the vehicle Image generating means ;
Image combining means for obtaining a combined image obtained by superimposing the image obtained by the imaging position converting means and the image obtained by the visual recognition area image generating means ;
An image processing apparatus for a vehicle, comprising: display means for displaying a composite image obtained by the image composition means . Has a contour detecting unit for detecting a contour line of the vehicle body shape, the contour detected by the contour detecting unit, synthesized to display on the viewpoint transformed image by the imaging position conversion means contour The vehicle image processing apparatus according to claim 1, further comprising a line image synthesis unit.

Images