KR101750161B1 - System and method for managing image patch with region of interest - Google Patents

System and method for managing image patch with region of interest Download PDF

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KR101750161B1
KR101750161B1 KR1020150098273A KR20150098273A KR101750161B1 KR 101750161 B1 KR101750161 B1 KR 101750161B1 KR 1020150098273 A KR1020150098273 A KR 1020150098273A KR 20150098273 A KR20150098273 A KR 20150098273A KR 101750161 B1 KR101750161 B1 KR 101750161B1
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data
roi
patch
unit
image
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KR1020150098273A
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KR20170006897A (en
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이정표
박재홍
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주식회사 와이즈오토모티브
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/60—Memory management
    • H04N5/225—

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

An object of the present invention is to provide a system and method for managing an image of a region of interest that can efficiently use a memory through a structure for removing unnecessary data from data of an ROI patch stored in a pre-allocated memory space. To this end, the present invention provides a camera system comprising at least one camera installed in a vehicle, the camera unit outputting an image of at least one of a front side and a rear side of the vehicle; A traveling information detecting unit for detecting traveling information of the vehicle; And an ROI patch having a preset frame area from an image output from the camera unit, storing data of the detected ROI patch in a pre-allocated memory space, analyzing the memory space, And a control unit for analyzing the detection time of the patch and the travel information detected by the travel information detection unit to extract at least one removal data and removing the extracted removal data from the memory space. Accordingly, the ROI patch management system and method according to the present invention are advantageous in that efficient use of the memory can be achieved through a configuration for removing unnecessary data among the ROI patch data stored in the pre-allocated memory space.

Description

BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a patch image management system,

The present invention relates to a system and method for managing a patch image of a region of interest, and more particularly, to a system and method for managing regions of interest that can achieve efficient use of memory through a structure for removing unnecessary data among ROI patch data stored in pre- And a patch management system and method for a region image of interest.

2. Description of the Related Art [0002] In recent years, as a vehicle has become more sophisticated and multifunctional, it has been proposed to use a camera mounted on the front, rear, left and right sides of a vehicle to provide a screen in which a vehicle is viewed And an Around View Monitor (AVM) system that allows you to obtain a clear view.

These surround view monitor systems synthesize images from cameras mounted on all sides of the vehicle, so that they can be viewed from the top view ) Refers to a kind of parking convenience device that allows a driver to safely and precisely park the vehicle in a narrow path while observing the four sides of the vehicle.

However, since the surround view monitor system usually combines the four images taken by a plurality of cameras to form one image, when the brightness of each image is different, the visibility of the screen may deteriorate, Removal of heterogeneity is required.

In order to meet such a demand, a system for generating an ambient view image through a single rear camera has been developed. Referring to FIG. 1, an ambient view monitor system using such a rear camera includes at least one camera The ROI patch P having a predetermined area I1, that is, the ROI patch P is formed by converting the viewpoint of the output image, and a plurality of ROI patches P are formed, To thereby generate an arousal view image having a constant composition area I2.

That is, it is possible to monitor the surroundings of the vehicle by simulating the current image as if it is a real time based on the past image that was photographed earlier.

However, in the prior art, a method of synthesizing a plurality of ROI patches accumulated in time in a memory at the time of synthesizing an ROI patch to generate an ROI patch image is used. In the embedded environment of a vehicle, There is a problem that the time required for image processing becomes longer as the number of accumulated ROI patches increases.

Therefore, it is required to develop a technique capable of displaying the surround view image naturally without any empty space in the combined area while maintaining the above-mentioned number even with a certain number of ROI patches.

Korean Registered Patent No. 10-1342728 (Dec. 11, 2013)

In order to solve such problems, the present invention provides a ROI image patch management system and method capable of achieving efficient use of memory through a configuration for removing unnecessary data among data of an ROI patch stored in a preallocated memory space .

According to an aspect of the present invention, there is provided an image processing apparatus comprising: a camera unit installed in a vehicle and outputting an image of at least one of a front portion and a rear portion of the vehicle; A traveling information detecting unit for detecting traveling information of the vehicle; And an ROI patch having a preset frame area from an image output from the camera unit, storing data of the detected ROI patch in a pre-allocated memory space, analyzing the memory space, And a control unit for analyzing the detection time of the patch and the travel information detected by the travel information detection unit to extract at least one removal data and removing the extracted removal data from the memory space.

The present invention further includes an image management unit for correcting distortion of an image output from the camera unit and for converting a viewpoint of the corrected image.

The control unit may further include: an ROI patch detecting unit that detects an ROI patch having a predetermined frame region from the image output by the camera unit; A data storage unit for storing the ROI patch data detected by the ROI patch detection unit in a memory space allocated in advance; Analyzing the memory space of the data storage unit to analyze at least one of the detection time of the ROI patch and the traveling information detected by the traveling information detecting unit to extract at least one removal data, A memory management unit for managing the memory of the data storage unit by removing the data from the memory space; And an image generating unit for generating an ROI image by combining ROI patches based on at least one residual data left in the data storage unit through the memory management unit.

Also, the removal data according to the present invention may include data for a redundant ROI patch that is densely overlapped within an arbitrary synthesis area for generating the surround view image, or data for a non-area ROI patch outside the synthesis area And at least one of them.

The ROI patch detection unit according to the present invention is characterized in that the detection of the ROI patch is stopped when the travel information detected by the travel information detection unit is information indicating a stop state of the vehicle.

The present invention also provides a method of managing an area image patch of interest, the method comprising the steps of: a) detecting an ROI patch having a preset frame area from an image output by the camera unit, Storing in a memory space; b) analyzing whether the controller is insufficient in the memory space in which data is stored; And c) if it is determined that the vehicle is in a deficient state as a result of the analysis in the step b), the control unit analyzes the detection time of the ROI patch and the travel information detected by the travel information detecting unit to extract at least one removal data, And removing the removal data from the memory space.

In the step c) according to the present invention, if the memory space is insufficient as a result of the analysis in the step b), the step a) is performed again.

The method may further include the steps of: a-1) analyzing whether the control unit receives the driving information detected by the driving information detecting unit during the step a), and whether the inputted driving information is information indicating a stopping state of the vehicle And further comprising:

Also, the present invention is characterized in that, if it is determined that the information indicates the stop state as a result of the analysis in step a-1), the step b) is performed if the information indicates the running state.

In extracting the removal data in step c) according to the present invention, data for redundant ROI patches that are densely overlapped within an arbitrary synthesis area for generating the surround view image, or data for redundant ROI patches outside the synthesis area And extracting at least one of data on the ROI patch.

The ROI patch management system and method according to the present invention is advantageous in that efficient use of the memory can be achieved through a configuration for removing unnecessary data among ROI patch data stored in a preallocated memory space.

In addition, according to the present invention, since the memory is efficiently used, there is an advantage that even when a certain number of ROI patches are used, the surround view image can be displayed naturally without any empty space while maintaining the above number.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows a method of generating an overview image according to the prior art; FIG.
FIG. 2 is a block diagram showing a schematic configuration of a region image patch management system of interest according to the present invention; FIG.
3 is a block diagram showing a configuration of a control unit according to FIG.
4 illustrates redundant ROI patch removal in a ROI patch management system according to the present invention.
5 illustrates non-region ROI patch removal of a region of interest image patch management system according to the present invention.
FIG. 6 is a flowchart illustrating a method of managing a region image patch of interest according to the present invention. FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, a preferred embodiment of a system and method for managing a region of interest image patch according to the present invention will be described in detail with reference to the accompanying drawings.

(Interest area image patch management system)

FIG. 2 is a block diagram illustrating a schematic configuration of a region image patch management system according to the present invention. FIG. 3 is a block diagram illustrating a configuration of a controller according to FIG. 2. FIG. FIG. 5 is a diagram illustrating a non-area ROI patch removal of the ROI patch management system according to the present invention.

2 and 3, the interest area image patch management system 100 according to the present invention includes a camera unit 110, an image management unit 111, a travel information detection unit 120, a control unit 130, (140).

At least one camera unit 110 is installed in the vehicle and outputs an image of the back of the vehicle according to a predetermined wide angle characteristic. According to the embodiment of the present invention, The front hood position of the vehicle body may be set to a predetermined angle so as to be able to generate the foreground view image by the controller 130. However, the present invention is not limited thereto.

A plurality of camera units 110 may be installed on the left and right side mirrors, left and right tail lights, rear emblems, license plates, window glasses, It is needless to say that the position can be variously modified by a person having ordinary skill in the related art within the technical scope of the present invention of photographing the rear and acquiring the image.

The camera 110 may be a CMOS camera or a CCD camera. However, the present invention is not limited to this, and a speed dome camera, a pinhole camera, a pan / tilt zoom camera, or the like may be used. Further, May be additionally provided.

The image management unit 111 performs image correction and conversion before an image output from the camera unit 110 is input to the control unit 130 to be described later. And manages the time of the corrected image to be converted.

More specifically, the image managing unit 111 may detect various distortions related to the lens of the camera unit 110, such as a severe distortion of an edge of an image photographed due to lens distortion of the camera unit 110, And converts the viewpoint to a viewpoint on the vehicle, and manages the viewpoint as a 'Top View' image.

The image management unit 111 is a generally known technology, and a detailed description thereof will be omitted.

The traveling information detecting unit 120 detects traveling information of a vehicle that can affect the spacing of the ROI patches P (see FIG. 1) in the combining area I2 (see FIG. 1) However, the present invention is not limited thereto, and various movement detection sensors such as a wheel sensor and a vehicle speed sensor can be applied.

That is, it is preferable that the travel information is information on a distance traveled by the vehicle, and the travel information may include a speed value as well as a travel distance value of the vehicle.

The controller 130 controls the image output unit 110 to output an ROI patch P having a preset frame area I1 from the image output from the camera unit 110, And stores the detected data of the ROI patch P in a pre-allocated memory space. If the memory space is insufficient, the detection time of the ROI patch P and the detection time of the ROI patch P are compared with each other, The ROI patch detection unit 131, the data storage unit 132, the memory 132, and the memory 130. The ROI patch detection unit 131 detects the ROI patch data, A management unit 133 and an image generation unit 134. [

The ROI patch detecting unit 131 detects a plurality of ROI patches P for forming one of the surround view images and detects an image output from the camera unit 110, 111) detects a ROI patch P having a preset frame area I1 (see FIG. 1), that is, an ROI (Region Of Interest) from an image obtained by transforming the viewpoint.

Also, the number of the ROI patches P may be preset within a range in which the one surround view image can be formed, and the memory space of the data storage unit 132, which will be described later, ).

For example, if it is assumed that the ROI patch P of 100 × 400 image size has a capacity of 10 KByte and that the number of ROI patches P for forming the surround view image is set to 100, ) Can be 10 KBytes x 100 = 1 MBytes.

According to the embodiment of the present invention, if the running information detected by the running information detecting unit 120 is information indicating a stopped state of the vehicle to prevent waste of memory space, the ROI patch detecting unit 131 detects the ROI patch P in the first embodiment.

The data storage unit 132 stores the data of the ROI patches P detected by the ROI patch detection unit 131 in a pre-allocated memory space, and various memory devices to which general well-known techniques are applied can be handled .

The data may include a pixel value for the ROI patch P, a detection time, and the running information. The data may be stored in the combining area I2 by a plurality of data stored in the data storing unit 132 The plurality of ROI patches P are shown in FIGS. 4 (a) and 5 (a).

As shown in FIGS. 4 (a) to 5 (a), the plurality of ROI patches P may be arranged at arbitrary intervals, And the spacing may vary depending on the driving information.

The memory management unit 133 manages the memory of the data storage unit 132 and analyzes the memory space of the data storage unit 132. If the memory space of the data storage unit 132 is insufficient, Extracts at least one removal data by operating and analyzing the travel information detected by the information detection unit 120, and removes the extracted removal data from the memory space to manage the memory of the data storage unit 132. [

Here, the removal data may include data for a redundant ROI patch P '(see FIG. 4) densely overlapping in the combining area I2 or non-area ROI patches P " 5). The extraction and removal of the removal data will be described in more detail with reference to FIGS. 4 and 5. FIG.

According to the embodiment of FIG. 4, when the vehicle slowly moves at a low speed, the plurality of ROI patches P have data having a small difference in traveling distance value according to the running information, that is, As shown in (a) of Fig. 4, the intervals can be arranged densely.

At this time, the memory management unit 133 calculates and analyzes the detection time and the traveling information among the data of each ROI patch P, and determines whether the corresponding ROI patch P is an arbitrary The coordinate values can be calculated and it can be inferred that the variation width of the calculated coordinate values, that is, the distance between the coordinates, overlaps with each other as the ROI patches P having the narrow data.

It is obvious that the overlapped ROI patches P are determined to be redundant ROI patches P 'that are unnecessary for image composition because the pixel values are overlapped with each other or the degree of similarity is high. The memory management unit 133, The data of the patch P 'is converted into data for removal and is extracted.

4 (b), the memory management unit 133 removes the extracted removal data from the memory space of the data storage unit 132 to remove redundant ROI patches P ') Disappear.

In the embodiment of the present invention, a redundant ROI patch (P ') detection method using the coordinate values is applied. A separate image processing program may be configured to detect the redundant ROI patches P 'through analyzing the pixel values of the respective ROI patches P'.

5, when the vehicle continues to move, a part of the plurality of ROI patches P is displayed on the display unit 140, which will be described later, (I2).

At this time, the memory management unit 133 reads the ROI patch P having the reference coordinate value and coordinate value data of a predetermined distance or more on the basis of the coordinate value of the data of the most recently detected ROI patch P, Region ROI patch P "which has become unnecessary since it deviates from the composite region I2.

Further, the memory management unit 133 converts the data of the non-area ROI patch P "into data for removal and extracts the data, extracts the extracted data for removal from the memory space of the data storage unit 132 So that the non-area ROI patch P "in the combining area I2 disappears as shown in Fig. 5 (b).

That is, the memory management unit 133 can insert and / or delete data in accordance with a signal indicating that the memory space of the data storage unit 132 is insufficient, A stacking method that manages data efficiently can be applied.

The image generating unit 134 is configured to combine the ROI patches P based on at least one residual data left in the data storage unit 132 through the memory management unit 133 to generate an ambient view image, And may be configured to utilize a pre-stored image combining (matching) program, but is not limited thereto.

Here, the image composition program calculates the parameters for distortion correction from the ROI patch P, the homography between the ROI patches P, etc., and then performs image synthesis through mapping of the ROI patches P, Thereby generating a composite image, i.e., an ambient view image.

It is a matter of course that the technology relating to the image synthesis program is a generally known technology, and various modifications can be designed within the technical scope of the present invention.

The display unit 140 is configured to output an averaged view image generated by the controller 130 on an arbitrary screen. The display unit 140 may include a room mirror, a navigation system, a head up display (HUD) , Or a cluster may be used, but the present invention is not limited thereto.

(How to manage patches of interest area image)

FIG. 6 is a flowchart illustrating a method of managing an area image patch according to the present invention.

As shown in FIG. 6, the management method using the ROI patch management system 100 according to the present invention includes an ROI patch detection step S100, a data storage step S200, a memory space analysis step S300, And a data extracting step (S400).

The ROI patch detecting unit 131 of the control unit 130 detects an ROI patch image of the image output by the camera unit 110, And detects an ROI patch P having a preset frame area I1 from the real-time image.

In step S200, the data storage unit 132 of the controller 130 stores the data of the ROI patches P detected in step S100 in a memory space previously allocated.

Here, according to the embodiment of the present invention, the management method receives the driving information detected by the driving information detecting unit 120 by the ROI patch detecting unit 131 during steps S100 and S200, (S210) for analyzing whether or not the information is information indicating a stop state of the vehicle.

If it is determined that the information indicates the stop state, the management method ends in step S100 and step S200, and if the information indicates the running state, the control method proceeds from step S100 to step S200 And then proceeds to step S300, which will be described later.

In the memory space analysis step of step S300, the data storage unit 132 analyzes whether the memory space in which the data is stored is insufficient.

If it is determined in step S300 that the memory space is insufficient, the memory management unit 134 of the controller 130 detects the detection time of the ROI patch (P) Extracts at least one removal data by calculating and analyzing the traveling information detected by the detection unit 120, and removes the extracted removal data from the memory space.

In extracting the removal data in step S400, data for redundant ROI patches P 'that densely overlap within an arbitrary synthesis area I2 for generating the surround view image or data for redundant ROI patches P' ) Of the non-area ROI patch (P ") out of the non-area ROI patch (P ").

If it is determined in step S300 that the memory space is insufficient, step S400 may be performed again from step S100.

Accordingly, the present invention can achieve efficient use of memory through a configuration for removing unnecessary data among data of an ROI patch stored in a pre-allocated memory space.

In addition, since the memory is efficiently used, the surround view image can be displayed naturally without any empty space in the combined area while maintaining the number of ROI patches only by a certain number of ROI patches.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. It can be understood that

In the course of the description of the embodiments of the present invention, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation, , Which may vary depending on the intentions or customs of the user, the operator, and the interpretation of such terms should be based on the contents throughout this specification.

100: management system 110: camera unit
120: traveling information detecting unit 130: control module
131: ROI patch detection unit 132:
133: memory management unit 134: image generation unit
140: Display section I1: Frame area
I2: Composite area P: ROI patch
P ': Redundant ROI patch P ": Non-area ROI patch

Claims (10)

A camera unit (110) installed at least one on a vehicle and outputting an image of at least one of a front portion and a rear portion of the vehicle;
A traveling information detecting unit (120) for detecting traveling information of the vehicle; And
Detects an ROI patch (P) having a preset frame area (I1) from an image output from the camera unit (110), stores the data of the detected ROI patch (P) in a memory space allocated in advance, Analyzing the memory space and analyzing the detection time of the ROI patch P and the travel information detected by the travel information detecting unit 120 to extract at least one removal data, And a control unit (130) for removing, from the memory space,
Wherein the removal data includes:
Data for a redundant ROI patch in which the variation of the calculated coordinate value for the position at which the ROI patch P is to be arranged within the arbitrary composite region I2 for generating the surrounding view image is narrow and overlaps closely,
A non-region ROI having coordinate values that are the reference coordinates and coordinate value data of a predetermined distance or more and are unnecessary beyond the combining region I2 based on coordinate values of data of the most recently detected ROI patches P, Patch data for the region of interest.
The method according to claim 1,
The management system includes:
Further comprising an image management unit (111) for correcting distortion of the image output from the camera unit (110) and for converting the viewpoint of the corrected image.
The method according to claim 1,
The control unit 130,
An ROI patch detecting unit 131 for detecting an ROI patch P having a preset frame area I1 from an image output by the camera unit 110;
A data storage unit 132 for storing the data of the ROI patches P detected by the ROI patch detection unit 131 in a pre-allocated memory space;
If the memory space of the data storage unit 132 is insufficient, at least one removal data is extracted by analyzing the detection time of the ROI patch P and the traveling information detected by the traveling information detection unit 120 A memory management unit 133 for removing the extracted removal data from the memory space and managing the memory of the data storage unit 132; And
And an image generation unit 134 for generating an overview image by synthesizing ROI patches P based on at least one remaining data left in the data storage unit 132 through the memory management unit 133. [ Area image patch management system.
delete The method of claim 3,
The ROI patch detecting unit 131 detects the ROI patch,
Wherein the detection of the ROI patch (P) is stopped if the travel information detected by the travel information detecting unit (120) is information indicating a stop state of the vehicle.
A method of managing a patch of interest area image,
a) The control unit 130 detects the ROI patch P having the preset frame area I1 from the image output by the camera unit 110 and outputs the data of the detected ROI patch P to the pre- Storing in a memory space;
b) analyzing whether the controller 130 is insufficient for the memory space in which data is stored; And
c) If the memory space is insufficient as a result of the analysis in step b), the controller 130 analyzes the detection time of the ROI patch P and the travel information detected by the travel information detector 120, Extracting data for removal from the memory space, and removing the extracted removal data from the memory space,
Wherein the removal data includes:
Data for a redundant ROI patch in which the variation of the calculated coordinate value for the position at which the ROI patch P is to be arranged within the arbitrary composite region I2 for generating the surrounding view image is narrow and overlaps closely,
A non-region ROI having coordinate values that are the reference coordinates and coordinate value data of a predetermined distance or more and are unnecessary beyond the combining region I2 based on coordinate values of data of the most recently detected ROI patches P, And data on the patch.
The method according to claim 6,
The step c)
And if the memory space is insufficient as a result of the analysis in the step b), the step a) is performed again.
The method according to claim 6,
a-1) The control unit 130 receives the driving information detected by the driving information detecting unit 120 during the execution of the step a), and analyzes whether the inputted driving information is information indicating a stopping state of the vehicle ≪ / RTI > further comprising the steps < RTI ID = 0.0 > of: < / RTI >
9. The method of claim 8,
Wherein the step b) is performed if the information indicating the stop state is the result of the analysis of the step a-1), and if the information indicates the running state, the step b) is performed.
delete
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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006349580A (en) * 2005-06-17 2006-12-28 Denso Corp Traveling condition determination device and on-vehicle navigation device

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8963949B2 (en) 2009-04-22 2015-02-24 Qualcomm Incorporated Image selection and combination method and device

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006349580A (en) * 2005-06-17 2006-12-28 Denso Corp Traveling condition determination device and on-vehicle navigation device

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