KR102611759B1 - Apparatus for calibrating of around view image for vehicle and control method thereof - Google Patents

Abstract

The present invention discloses an apparatus for correcting an around view image of a vehicle and a method for controlling the same. An apparatus for correcting an around view image of a vehicle according to the present invention includes an AVM photographing unit including a plurality of cameras that capture images of the surrounding area centered on the vehicle; A marker output unit that outputs a marker around the vehicle; A storage unit that stores the initial coordinates of each marker extracted from each captured image in an empty state of the vehicle; And outputting a marker to each captured area through a marker output unit, receiving a plurality of captured images from the AVM capturing unit, extracting the coordinates of the markers included in each captured image, the extracted coordinates of the marker and the initial coordinates of the marker stored in the storage unit. It is characterized by including a control unit that compares and calculates a correction value according to the change in body posture, and reflects the correction value when converting the viewpoint of each captured image centered on the vehicle and synthesizes it into an around view image.

Description

Calibration device for around view image of vehicle and method for controlling same {APPARATUS FOR CALIBRATING OF AROUND VIEW IMAGE FOR VEHICLE AND CONTROL METHOD THEREOF}

The present invention relates to a correction device for a vehicle's around view image and a control method thereof. More specifically, the present invention relates to a correction device for the around view image of a vehicle and a method for controlling the same. More specifically, the present invention relates to a correction device for correcting the registration error between the around view images due to changes in the body posture of the vehicle in real time to provide an accurate around view image. It relates to a correction device for an around view image of a vehicle and a method for controlling the same.

In general, with the development of the automobile industry, automobiles have become widespread and commercialized, and various cutting-edge electronic technologies are being applied to automobiles to improve vehicle safety and promote driver convenience.

Among these advanced electronic technologies, the vehicle's surrounding system displays a top view or around view image to the driver so that the driver can conveniently check the vehicle's surrounding environment with the naked eye by filming and displaying the vehicle's surrounding environment. Equipped with a view monitoring system.

The vehicle's around view monitoring system captures the surrounding environment through cameras installed on the front, rear, left, and right sides of the vehicle, and based on the captured images, corrects overlapping areas to make them look natural to display the vehicle's surrounding environment on the screen. It is displayed in As a result, drivers can accurately recognize the car's surroundings through the displayed surroundings, and can conveniently park or drive without looking at the side or rear-view mirrors.

The background technology of the present invention is disclosed in Republic of Korea Patent Publication No. 1603609 (2016.03.28 notice, Around view monitoring system for vehicle and method thereof).

This around view monitoring system is tuned based on the initial design position and posture of the cameras at the time of vehicle shipment, converts the viewpoint of the captured images input from the front, rear, left room, and right room cameras, and synthesizes them into a top view image. It is being printed.

However, while the vehicle is in operation after being shipped, there may be cases where the cameras are unable to maintain their initial designed position and posture due to various external environments, and defects in the around view may occur due to inconsistencies between images taken by individual cameras. You can.

In particular, the initial design position and posture of the camera may change due to changes in tire pressure while the vehicle is in operation, resulting in incorrect and distorted images being received.

Additionally, if there are many people in the car or luggage is loaded in the trunk, the weight causes the car to sink, resulting in a distorted image.

The present invention was created to improve the problems described above, and the purpose of the present invention according to one aspect is to provide an accurate around view image by correcting the registration error between the around view images in real time due to changes in the body posture of the vehicle. The aim is to provide a correction device for an around view image of a vehicle and a control method thereof.

An apparatus for correcting an around view image of a vehicle according to an aspect of the present invention includes an AVM photographing unit including a plurality of cameras that capture images of the surrounding area centered on the vehicle; A marker output unit that outputs a marker around the vehicle; A storage unit that stores the initial coordinates of each marker extracted from each captured image in an empty state of the vehicle; And outputting a marker to each captured area through a marker output unit, receiving a plurality of captured images from the AVM capturing unit, extracting the coordinates of the markers included in each captured image, the extracted coordinates of the marker and the initial coordinates of the marker stored in the storage unit. It is characterized by including a control unit that compares and calculates a correction value according to the change in body posture, and reflects the correction value when converting the viewpoint of each captured image centered on the vehicle and synthesizes it into an around view image.

In the present invention, the marker output unit outputs a set marker through a laser beam.

In the present invention, the marker is characterized as a mark set to 4 or more points.

In the present invention, the AVM imaging unit is characterized by including a front camera, a rear camera, a left camera, and a right camera.

In the present invention, the control unit converts each captured image into a top view view and synthesizes it into an around view image.

In the present invention, the control unit outputs an error value without correction if a difference exceeds a set value occurs when comparing the extracted coordinates of the marker and the initial coordinates.

A method of controlling a correction device for an around view image of a vehicle according to another aspect of the present invention includes the steps of a control unit outputting a marker to each shooting area through a marker output unit; A control unit receiving a plurality of captured images from the AVM capturing unit; A step where the control unit extracts a marker from each of the plurality of captured images and calculates the extraction coordinates of the marker; A step where the control unit compares the extracted coordinates of the marker with the initial coordinates stored in the storage unit to calculate a correction value according to the change in body posture; And a step where the control unit reflects the correction value, converts the viewpoint of each captured image centered on the vehicle, and synthesizes it into an around view image.

In the present invention, the step of outputting a marker is characterized by outputting a marker set in each shooting area through a laser beam.

In the present invention, the marker is characterized as a set mark of 4 or more points.

In the present invention, the step of receiving a plurality of captured images is characterized in that the control unit receives a front captured image, a rear captured image, a left room captured image, and a right room captured image from the AVM capture unit.

In the present invention, the step of synthesizing an around view image is characterized in that the control unit converts the captured image to a top view viewpoint and synthesizes it into an around view image.

In the present invention, the step of calculating the correction value further includes the step of outputting an error value without correction if a difference exceeds a set value occurs when the control unit compares the extracted coordinates of the marker and the initial coordinates.

According to one aspect of the present invention, an apparatus for correcting an around view image of a vehicle and a method for controlling the same include matching between the around view images due to changes in vehicle body posture, such as changes in tire pressure, the number and location of passengers, and the weight of luggage in the trunk while the vehicle is in operation. By correcting errors in real time, accurate around-view images can be provided, which not only improves product performance but also improves convenience, and in the case of stereoscopic images, it can improve the three-dimensional effect.

Figure 1 is a block diagram showing a correction device for an around view image of a vehicle according to an embodiment of the present invention.
Figure 2 is an example diagram showing the output state of a marker in a correction device for an around view image of a vehicle according to an embodiment of the present invention.
Figure 3 is an example diagram for explaining the initial coordinates of a marker in a correction device for an around view image of a vehicle according to an embodiment of the present invention.
Figure 4 is a diagram showing the output state of a marker while driving in a correction device for an around view image of a vehicle according to an embodiment of the present invention.
Figure 5 is a diagram showing changes in markers according to changes in body posture of the vehicle in a correction device for an around view image of a vehicle according to an embodiment of the present invention.
FIG. 6 is a flowchart illustrating a control method of a device for correcting an around view image of a vehicle according to an embodiment of the present invention.

Hereinafter, a correction device for an around view image of a vehicle and a control method thereof according to the present invention will be described with reference to the attached drawings. In this process, the thickness of lines or sizes of components shown in the drawing may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is a block diagram showing a correction device for an around view image of a vehicle according to an embodiment of the present invention, and Figure 2 is an output state of a marker in a correction device for an around view image of a vehicle according to an embodiment of the present invention. is an example diagram showing, Figure 3 is an example diagram for explaining the initial coordinates of a marker in a correction device for an around view image of a vehicle according to an embodiment of the present invention, and Figure 4 is an example diagram showing a vehicle according to an embodiment of the present invention. It is a diagram showing the output state of the marker during driving in the around view image correction device of , and FIG. 5 shows the change in the marker according to the change in body posture of the vehicle in the around view image correction device of the vehicle according to an embodiment of the present invention. This is the drawing shown.

As shown in FIG. 1, the device for correcting the around view image of a vehicle according to an embodiment of the present invention includes an AVM photographing unit 10, a marker output unit 30, a storage unit 40, and a control unit 20. It can be included.

The AVM photographing unit 10 includes a front camera 11, a rear camera 12, a left camera 13, and a right camera 14 installed on the front, left, and right sides of the vehicle to capture the surroundings centered on the vehicle. Front captured images, rear captured images, left room captured images, and right room captured images can be provided to the control unit.

The marker output unit 30 outputs markers set to 4 or more points around the vehicle through a laser beam as shown in FIG. 2 to detect changes in vehicle body posture.

The storage unit 40 can store and provide the initial coordinates of each marker extracted from each captured image in an empty state of the vehicle.

For example, as shown in FIG. 3, after the marker is output in an empty state when the vehicle is shipped from the factory, the initial coordinates of each marker extracted from each image captured through the AVM imaging unit 10 can be stored.

As shown in FIG. 4, the control unit 20 outputs a marker to each captured area through the marker output unit 30 while the vehicle is in operation, receives a plurality of captured images from the AVM capture unit 10, and inputs a plurality of captured images into the captured images. The coordinates of each included marker are extracted and the extracted coordinates of the marker are compared with the initial coordinates of the marker stored in the storage unit to calculate the correction value according to the change in vehicle body posture.

For example, as the posture of the vehicle body changes, the position of the marker may change as shown in FIG. 5. As shown in Figure 5, (a) is the initial state, (b) is the state in which the car body is tilted forward, (c) is the state in which the car body is tilted backward, and (d) is the state in which the entire car body is lowered. It can be.

Therefore, by extracting the coordinates of the marker and comparing the extracted coordinates of the marker with the initial coordinates, the correction value according to the change in body posture can be calculated.

After calculating the correction value according to the change in body posture in this way, the control unit 20 can reflect the correction value when converting each captured image centered on the vehicle into a top view view and synthesize it into an around view image.

Meanwhile, the control unit 20 may output an error value without correction if a difference exceeds a set value occurs when comparing the extracted coordinates of the marker and the initial coordinates.

For example, when a marker is output on a median or guardrail while a vehicle is driving, or when a step occurs on the road, the change in body posture cannot be measured through the marker, so in these cases, an error value is output without calculating a correction value. It may be possible. In addition, in such cases, if necessary, the correction value is not calculated only for the captured images in which a difference between the extraction coordinates of the marker and the initial coordinates is greater than the set value, and the correction values can be calculated for the remaining captured images to partially correct them. Also, the correction value can be predicted based on the normally extracted marker.

As described above, according to the device for correcting the around view image of a vehicle according to an embodiment of the present invention, the around view due to changes in vehicle body posture such as changes in tire pressure, number and location of passengers, and weight of trunk luggage while the vehicle is in operation. By correcting the registration error between images in real time, accurate around view images can be provided, which not only improves product performance but also improves convenience, and in the case of stereoscopic images, it can improve three-dimensional effect.

FIG. 6 is a flowchart illustrating a control method of a device for correcting an around view image of a vehicle according to an embodiment of the present invention.

As shown in FIG. 6, in the control method of the correction device for the around view image of a vehicle according to an embodiment of the present invention, first, the control unit 20 outputs a marker to each shooting area through the marker output unit 30. (S10).

For example, as shown in FIG. 4, markers set to 4 or more points can be output to each shooting area through a laser beam while driving.

After outputting the marker in step S10, the control unit 20 receives the front captured image, rear captured image, left room captured image, and right room captured image from the AVM photographing unit 10 (S20).

After receiving a plurality of captured images in step S20, the control unit 20 extracts a marker from each captured image and calculates the extraction coordinates of the marker (S30).

After calculating the extraction coordinates of the marker in step S30, the control unit 20 compares the extraction coordinates of the marker with the initial coordinates stored in the storage unit 40 (S40).

Here, as shown in FIG. 3, the initial coordinates can be set as the initial coordinates of the positions of the markers extracted from each captured image captured through the AVM photographing unit 10 after the marker is output in the empty state when the vehicle is shipped from the factory. there is.

After comparing the extracted coordinates and the initial coordinates in step S40, the control unit 20 determines whether the vehicle's driving section is a normal section (S50).

For example, if a marker is displayed on the median or guardrail while the vehicle is driving, or if a step occurs on the road, the change in body posture cannot be measured through the marker, so in this case, it cannot be judged as a normal section.

That is, the control unit 20 compares the output coordinates of the marker and the initial coordinates, and if a difference occurs between the extracted coordinates and the initial coordinates by more than the set value, the control unit 20 cannot determine the section as a normal section, so it does not calculate the correction value and calculates the correction value as an error value. Output (S80).

Meanwhile, even in cases where it is not a normal section, the correction value is not calculated only for the captured images in which a difference greater than the set value between the extracted coordinates of the marker and the initial coordinates among the plurality of captured images is calculated as necessary, and the correction value is calculated for the remaining captured images. It can be calculated and partially corrected, or the correction value can be predicted based on normally extracted markers.

In step S50, if the extracted coordinates of the marker and the initial coordinates are compared and there is no difference greater than the set value, the control unit 20 determines it is a normal section and calculates a correction value to convert the extracted coordinates to the initial coordinates (S60) .

In other words, as shown in Figure 5, when the vehicle body is tilted forward, backward, or the entire vehicle body is lowered due to changes in vehicle body posture such as changes in tire pressure, number and position of passengers, and weight of trunk luggage, this occurs. Calculate the correction value for correction.

After calculating the correction value according to the change in body posture in step S60, the control unit 20 calculates the correction value when converting the front shot image, rear shot image, left side shot image, and right side shot image centered on the vehicle into a top view view. It is reflected and synthesized into an around view image (S70).

As described above, according to the control method of the correction device for the around view image of the vehicle according to the embodiment of the present invention, changes in the body posture, such as changes in tire pressure, number and location of passengers, and weight of luggage in the trunk, while the vehicle is in operation. By correcting the registration error between around-view images in real time, accurate around-view images can be provided, which not only improves product performance but also improves convenience, and in the case of stereoscopic images, it can improve three-dimensionality.

Implementations described herein may be implemented, for example, as a method or process, device, software program, data stream, or signal. Although discussed only in the context of a single form of implementation (eg, only as a method), implementations of the features discussed may also be implemented in other forms (eg, devices or programs). The device may be implemented with appropriate hardware, software, firmware, etc. The method may be implemented in a device such as a processor, which generally refers to a processing device that includes a computer, microprocessor, integrated circuit, or programmable logic device. Processors also include communication devices such as computers, cell phones, portable/personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will recognize that various modifications and other equivalent embodiments are possible therefrom. You will understand.

Therefore, the true technical protection scope of the present invention should be determined by the claims below.

10: AVM recording unit 11: Front camera
12: Rear camera 13: Left camera
14: Right room camera 20: Control unit
30: marker output unit 40: storage unit

Claims (12)

An AVM photographing unit provided with a plurality of cameras that photograph the surroundings centered on the vehicle;
a marker output unit that outputs a marker around the vehicle;
a storage unit that stores initial coordinates of the marker extracted from each captured image in an empty state of the vehicle; and
Outputs the marker in each captured area through the marker output unit, receives a plurality of captured images from the AVM capture unit, extracts the coordinates of the marker included in each captured image, extracts the coordinates of the marker, and the storage unit. A control unit that compares the initial coordinates of the marker stored in and calculates a correction value according to a change in body posture, and reflects the correction value when converting the viewpoint of each captured image centered on the vehicle and synthesizes it into an around view image; Including,
The control unit predicts the correction value based on the normally extracted marker if a difference exceeds a set value occurs when comparing the extracted coordinates of the marker with the initial coordinates.
The apparatus of claim 1, wherein the marker output unit outputs the set marker through a laser beam.
The device for correcting an around view image of a vehicle according to claim 1, wherein the marker is set to 4 or more points.
The apparatus of claim 1, wherein the AVM imaging unit includes a front camera, a rear camera, a left camera, and a right camera.
The apparatus according to claim 1, wherein the control unit converts each captured image into a top view viewpoint and synthesizes them into the around view image.
delete A control unit outputting a marker to each shooting area through a marker output unit;
The control unit receiving a plurality of captured images from the AVM capture unit;
The control unit extracting the marker from each of a plurality of captured images and calculating extraction coordinates of the marker;
The control unit comparing the extracted coordinates of the marker with the initial coordinates stored in a storage unit to calculate a correction value according to a change in vehicle body posture; and
A step of the control unit converting the viewpoint of each captured image centered on the vehicle by reflecting the correction value and synthesizing it into an around view image,
In the step of calculating the correction value, when the control unit compares the extracted coordinates of the marker and the initial coordinates, if a difference exceeds a set value occurs, the control unit predicts the correction value based on the normally extracted marker. Control method of an image correction device.
The method of claim 7, wherein the step of outputting the marker outputs the marker set in each shooting area through a laser beam.
The method of claim 7, wherein the marker is a set mark of 4 or more points.
The vehicle according to claim 7, wherein in the step of receiving the plurality of captured images, the control unit receives a front captured image, a rear captured image, a left room captured image, and a right room captured image from the AVM capture unit. Control method of correction device for around view image.
The method of claim 7, wherein in the step of synthesizing the around view image, the control unit converts the captured image into a top view viewpoint and synthesizes the captured image into an around view image.
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