CN101472147B - Method for displaying filmed image in backing photograph system - Google Patents
Method for displaying filmed image in backing photograph system Download PDFInfo
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- CN101472147B CN101472147B CN2007103022695A CN200710302269A CN101472147B CN 101472147 B CN101472147 B CN 101472147B CN 2007103022695 A CN2007103022695 A CN 2007103022695A CN 200710302269 A CN200710302269 A CN 200710302269A CN 101472147 B CN101472147 B CN 101472147B
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Abstract
A method for displaying a photographed image on a vehicle-reversing photographing system aims to enable the vehicle-reversing photographing system with a fixed lens to adjust the displaying angle of the image according to the change in distance between the system and an obstacle. The method comprises the following steps: an object behind a vehicle is photographed through the lens; a distance detector is started to detect the distance between the vehicle and the obstacle behind the vehicle, and if the distance from the obstacle is smaller than a preset distance, a zooming scale is set on the basis of the proportion of the preset distance to the distance from the obstacle; and the space among all pixels is adjusted on the basis of the zooming scale and distances from all the pixels in the image of the object to a reference point, so that the image of the object is deformed. Therefore, the invention achieves the effect of realizing conversion of viewing the image of the object.
Description
Technical field
The present invention is about a kind of image treatment method, and particularly relates to a kind of method that shows filmed image at backing-up photographing system.
Background technology
Automobile gradually becomes main means of transportation, and along with the auto industry progress, people are to traffic safety and comfortable the higher standard that requires arranged.Particularly the traffic safety aspect proposes in order to improve travel safety in succession such as automobile-used inventions such as safety belt, air bag, deviation caution system, radar for backing car.Generally speaking, left and right vehicle wheel both sides and driver's seat the place ahead can be provided with back photograph/visor usually in order to watch rear driving situation, reduce the possibility that suffers extraneous bump.In addition, the part vehicle more can be provided with the back according to the ground mirror, in order to the situation at direct-view one meter place, tailstock ground in rear view of vehicle (for example spoiler top).Yet still can there be blind area/blind spot district in the visual field information that photograph/visor provided after in fact relying on three because of the field range problem of reflective mirror and rearview mirror.So automobile-used radar for backing car technology is satisfied development in order to solve the problem in blind area/blind spot district, reverse radar system is launched signal, when reverse radar system receives the signal of meeting the barrier reflection, promptly sends the caution sound.Yet, the position of radar for backing car and the angle that signal sent of radar for backing car are installed, also may produce the dead angle problem.For instance, when the barrier position was lower than default critical point, reverse radar system can't receive reflected signal can't detect barrier naturally.In addition, this type of reverse radar system only is to notify the driver with the sound, and can't immediate reaction rear view of vehicle real conditions.
In recent years, developed the backing-up photographing system that shooting rear view of vehicle scenery when vehicle backing then.By this backing-up photographing system, but the driving situation at immediate reaction rear (for example judging that rear obstacle is what), and allow driver's direct viewing outdoor scene image move backward.Also there is the dead angle problem that extensively causes inadequately because of shooting angle in the actual use of backing-up photographing system.The method that solves backing-up photographing system shooting blind angle amount problem at present is for using movable visual angle camera lens, dynamic adjustment shooting angle.When rear obstacle is far away, take comparatively level of visual angle; When rear obstacle was nearer, shooting visual angle adjustment was downward, made to take the visual angle near vehicle rear-side, allowed the driver that clear and definite distance perspective is arranged.Yet the equipment cost of movable taking lens is higher, and damage probability also than fixed lens come big.
Summary of the invention
In view of above-mentioned backing-up photographing system is taken the visual angle problem, the objective of the invention is to propose a kind of method that shows filmed image at backing-up photographing system, by the pel spacing in the scenery image of adjustment shooting, make the scenery image produce deformation, allow the scenery image of taking produce the visible change of visual angle conversion.
For realizing the image visual angle conversion purpose of above-mentioned conversion filmed image, the present invention includes following steps: at first,, take the scenery image of rear view of vehicle by phtographic lens.Then, start distance detector, the distance of the barrier at detection and rear.Then, when the distance of barrier during less than predeterminable range, set scaling according to following formula, the calculating formula of described scaling is expressed as follows:
Scaling=predeterminable range/obstacle distance;
Then, adjust pel spacing, allow the scenery image produce deformation, to realize the effect of visual angle conversion according to the distance of all pixels in scaling and reference point and the scenery image.
According to the described method at backing-up photographing system demonstration filmed image of preferred embodiment of the present invention, the camera lens of backing-up photographing system can be general camera lens, wide-angle lens or fish eye lens.
According to the described method at backing-up photographing system demonstration filmed image of preferred embodiment of the present invention, the calculation procedure of the distance of described barrier comprises: start distance detector and also send a ultrasonic signal; And received ultrasonic signal, and, calculate the distance of barrier and vehicle according to the return time of ultrasonic signal.
According to the described method that shows filmed image at backing-up photographing system of preferred embodiment of the present invention, wherein adjust the pel spacing in the scenery image, may further comprise the steps: at first, first half position at the scenery image is provided with first zoom area, and in the Lower Half position of scenery image second zoom area is set.Then, according to aforementioned scaling, geometric ratio is dwindled the pel spacing in first zoom area; And according to this scaling, geometric ratio is amplified this pel spacing in this second zoom area.
According to the described method of preferred embodiment of the present invention at backing-up photographing system demonstration filmed image, wherein adjust the pel spacing of this scenery image, more comprise:, a datum line is set in the scenery image according to aforementioned scaling.Then, in the filtering scenery image, be positioned at all pixels of this ABL.Afterwards, the spacing of residual pixel, then being logarithmic scale according to the distance with datum line increases.Then,, produce image after the adjustment again according to the pel spacing after the adjustment, and after showing this adjustment image in the screen of backing-up photographing system.
From the above mentioned, the method that shows filmed image at backing-up photographing system provided by the invention, mainly be by detecting the distance of vehicle and barrier, the scaling of the scenery image of taking with decision, and the pel spacing in the scaling adjustment scenery image whereby, with the scenery image closely the pel spacing of face portion widen, so as to producing the visual effect of " shooting angle is downward ", be implemented in and need not adjust under the taking lens angle, the effect at visual angle is taken in conversion.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Description of drawings
Fig. 1 is the method flow diagram that shows filmed image at backing-up photographing system;
Fig. 2 is the reversing schematic diagram;
The schematic diagram of Fig. 3 A for using backing-up photographing system to move backward;
Fig. 3 B is that the backing-up photographing system among Fig. 3 A is carried out the rear scenery image that shows the method shooting of filmed image at backing-up photographing system;
The schematic diagram of Fig. 4 A for using backing-up photographing system to move backward;
Fig. 4 B is the rear scenery image that the backing-up photographing system among Fig. 4 A is taken;
Fig. 4 C carries out at backing-up photographing system for the backing-up photographing system among Fig. 4 A and shows the rear scenery image that produces after the method for filmed image;
Fig. 4 D carries out at backing-up photographing system for the backing-up photographing system among Fig. 4 A and shows another rear scenery image that produces after the method for filmed image.
Wherein, Reference numeral
210 vehicles
212 phtographic lenses
214 distance detectors
The d obstacle distance
220 walls
230 barriers
310 stop lines
Embodiment
In order to illustrate further feature of the present invention and technology contents, see also following about detailed description of the present invention and accompanying drawing, yet appended accompanying drawing only provide with reference to and the explanation usefulness, be not to be used for the present invention is limited.
Fig. 1 is the method flow diagram that shows filmed image at backing-up photographing system.Please refer to Fig. 1, the backing-up photographing system of present embodiment for example has the phtographic lens of an establishing shot angle, and it is erected on the rear spoiler or rear bumper bar of vehicle, in order to take rear scenery when moveing backward.Backing-up photographing system more possesses one group of distance detector and in order to detect the rear clear is arranged, and detects the distance of vehicle and rear obstacle.At first, by phtographic lens, take the scenery image (step S110) of rear view of vehicle.Then, start distance detector, the distance (step S120) of the barrier at detection and rear.Afterwards, when the distance of barrier during less than predeterminable range, set a scaling according to following formula, the calculating formula of described scaling is expressed as follows:
Scaling=predeterminable range/obstacle distance (step S130);
Then, adjust pel spacing, allow the scenery image produce deformation, to realize the effect (step S140) of visual angle conversion according to the distance of all pixels in scaling and reference point and the scenery image.
The method that shows filmed image with example explanation present embodiment at backing-up photographing system.Fig. 2 is the reversing schematic diagram.Please refer to Fig. 2, be placed with a barrier 230 near wall 220, the driver carries out the parking stall that reverse action is parked in vehicle 210 in wall 220 the place aheads.The schematic diagram of Fig. 3 A for using backing-up photographing system to move backward.Please refer to Fig. 3 A, a phtographic lens 212 is arranged in order to when moveing backward, to take rear view of vehicle scenery at vehicle 210 spoiler (not shown) devices.In addition, also be equiped with one group of distance detector 214, in order to the distance of measuring vehicle 210 with rear obstacle 230 at the rear of vehicle 210 bumper bar.In the present embodiment, phtographic lens 212 for example is a wide-angle lens, and its shooting angle is compared to general camera lens wider (for example using in the present embodiment, the wide-angle lens at 100～120 degree visual angles).All scenery of rear view of vehicle can be contained in the visual angle of camera lens, and compared to general camera lens, are difficult for existing the visual dead angle problem.But consider the cost problem, generally camera lens replaces wide-angle lens.In certain embodiments, then substitute wide-angle lens, so that more broad angular field of view to be provided with the more broad fish eye lens in visual angle (the fish eye lens visual angle can extensively reach 180 degree).
Fig. 3 B is that the backing-up photographing system among Fig. 3 A is carried out the rear scenery image that shows the method shooting of filmed image at backing-up photographing system.Please merge with reference to Fig. 3 A and Fig. 3 B, when carrying out reverse action, backing-up photographing system is carried out the method that shows filmed image at backing-up photographing system provided by the present invention, it takes rear view of vehicle scenery image by phtographic lens 212, and measure rears with distance detector 214 clear is arranged, and the distance of calculating and barrier.In the present embodiment, the calculation procedure of obstacle distance is: start distance detector 214 and send ultrasonic signal.After distance detector 214 receives the ultrasonic signal of reflection, according to the return time of this ultrasonic signal, calculate between vehicle 210 and the barrier 230 apart from d.In the present embodiment, distance detector 214 is measured there is a strip at vehicle 210 rears apart from the d place barrier 230.At this moment, backing-up photographing system judges that vehicle and obstacle distance not less than predeterminable range, therefore do not carry out adjustment to captured image.
The schematic diagram of Fig. 4 A for using backing-up photographing system to move backward.Please refer to Fig. 4 A, when vehicle 210 continuation reversing backs, distance detector 214 detects and rear obstacle 230 distances are 1/2d, and is judged as less than predeterminable range.At this moment, phtographic lens 212 is taken rear scenery earlier, and is temporary in backing-up photographing system.Fig. 4 B is the rear scenery image that the backing-up photographing system among Fig. 4 A is taken.Please refer to Fig. 4 B, by finding among the figure, the big Arabic numerals 1 of bucket are arranged on wall 220, a barrier 230 is arranged in wall 220 the place aheads, one stop line 310 is arranged, and the ground japanning between stop line 310 and barrier 230 there are three words of stop line in barrier 230 the place aheads.
Backing-up photographing system is judged rear obstacle 230 distances less than predeterminable range, begins to carry out the scenery image then.In the present embodiment, predeterminable range for example is apart from d.Ratio (ratio is 2 in the present embodiment) according to the distance of predeterminable range and barrier is calculated a scaling, and the pel spacing in the scenery image taken of scaling adjustment in view of the above, produces the scenery image of deformation.
Fig. 4 C carries out at backing-up photographing system for the backing-up photographing system among Fig. 4 A and shows the rear scenery image that produces after the method for filmed image.Please merge with reference to aforesaid Fig. 4 B and Fig. 4 C.At first, a reference point (shown in Fig. 4 B) of the scenery image of shooting being set, for example is the specified point (not shown) of wall 220 tops in the present embodiment.Afterwards, again according to the distance of reference point therewith of all pixels in the scenery image, according to aforementioned scaling (that is ratio of predeterminable range and obstacle distance), the spacing of radial these pixels of adjustment of this reference point certainly.Through after the image processing of aforementioned radial adjustment, exportable scenery image as Fig. 4 C.Each pixel compression of Fig. 4 C top scenery, and each pixel of scenery is amplified down, the scenery image of the deformation that is constituted visually can reach as the effect of overlooking ground.So, can reach the effect of visual angle conversion by image processing.
In addition, part embodiment is first half image and the amplification Lower Half image by excising the scenery image of taking then, reaches the effect of overlooking ground.Fig. 4 D carries out at backing-up photographing system for the backing-up photographing system among Fig. 4 A and shows another rear scenery image that produces after the method for filmed image.Please merge with reference to aforesaid Fig. 4 B and Fig. 4 D.At first, backing-up photographing system is provided with datum line according to aforementioned scaling at the scenery image of taking.Then, not in the pixel of this ABL, and adjust the spacing of residual pixel in the filtering scenery image.In the present embodiment, be benchmark for example with the datum line central point, widen the spacing of each pixel radially.Remaining each pel spacing, more being logarithmic scale according to the distance with the datum line center increases (widening pel spacing).Afterwards,, produce image after the width of cloth adjustment, and show that image is at the screen (shown in Fig. 4 D) of backing-up photographing system after this adjustment again according to the pel spacing after the adjustment.
In sum, backing-up photographing system is given up the phtographic lens of variable shooting angle, only carry out " method that shows filmed image at backing-up photographing system " of the present invention, handle, make the visual angle of the scenery image of shooting produce visible change with the captured image of the phtographic lens of establishing shot angle.The method of demonstration filmed image of the present invention has following advantage at least:
1. the shooting imaging meeting of backing-up photographing system is along with the distance of barrier, and change take the photograph the visual angle of image, allow the driver that quite clear and definite distance perspective is arranged, help to grasp the rear view of vehicle road conditions.
2. not need frequent the rotation be the visual angle of convertible shooting to phtographic lens, the probability of effectively avoiding phtographic lens to damage, the maintenance cost of saving backing-up photographing system.
Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection range of the appended claim of the present invention.
Claims (5)
1. method that shows filmed image at backing-up photographing system, be executed in a backing-up photographing system, angles of display in order to the captured image of the phtographic lens of automatic adjustment establishing shot angle is characterized in that, should show that the method for filmed image comprised at backing-up photographing system:
Scenery image by this lens shooting rear view of vehicle;
Start the distance of a barrier at distance detector detection and rear;
When the distance of this vehicle and this barrier during, set a scaling according to following formula less than a predeterminable range:
Scaling=predeterminable range/obstacle distance; And
Distance according to all pixels in this scaling and a reference point and this scenery image is adjusted this pel spacing, allows this scenery image produce deformation, with the effect of rating angle conversion.
2. according to claim 1 the demonstration at backing-up photographing system is characterized in that the method for filmed image, and this camera lens is selected from one of them of the set be made up of general camera lens, wide-angle lens and fish eye lens.
3. the method at backing-up photographing system demonstration filmed image according to claim 1 is characterized in that the calculation procedure of the distance of this vehicle and this barrier comprises:
Start this distance detector and send a ultrasonic signal; And
Receive this ultrasonic signal, and, calculate the distance of this barrier and vehicle according to the return time of this ultrasonic signal.
4. the method at backing-up photographing system demonstration filmed image according to claim 1 is characterized in that the adjustment mode of this pel spacing in this scenery image more comprises the spacing from radial this pixel of adjustment of this reference point.
5. the method at backing-up photographing system demonstration filmed image according to claim 1 is characterized in that, adjusts this pel spacing of this scenery image, more comprises:
According to this scaling, one datum line is set at this scenery image;
This pixel of this ABL in this scenery image of filtering;
The spacing of remaining this pixel, being logarithmic scale according to the distance with this datum line increases;
According to the spacing of this pixel after the adjustment, produce image after the adjustment; And
Image is in the screen of this backing-up photographing system after showing this adjustment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2007103022695A CN101472147B (en) | 2007-12-24 | 2007-12-24 | Method for displaying filmed image in backing photograph system |
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| CN2007103022695A CN101472147B (en) | 2007-12-24 | 2007-12-24 | Method for displaying filmed image in backing photograph system |
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| CN101472147B true CN101472147B (en) | 2011-04-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102004386A (en) * | 2009-08-28 | 2011-04-06 | 鸿富锦精密工业（深圳）有限公司 | Shooting device and image-shooting method using same |
| CN101894511B (en) * | 2010-07-15 | 2012-03-14 | 鸿富锦精密工业（深圳）有限公司 | Electronic looking board |
| TWI533694B (en) * | 2013-12-18 | 2016-05-11 | 歐特明電子股份有限公司 | Obstacle detection and display system for vehicle |
| WO2017128156A1 (en) * | 2016-01-27 | 2017-08-03 | 赵政荣 | Method for automatically adjusting drive recorder lens and drive recorder |
| CN106772397B (en) * | 2016-12-14 | 2019-12-10 | 深圳市歌美迪电子技术发展有限公司 | Vehicle data processing method and vehicle radar system |
| JP6967958B2 (en) * | 2017-12-07 | 2021-11-17 | 株式会社クボタ | Field work support terminal, field work machine, and field work support program |
| CN110001522A (en) * | 2018-01-04 | 2019-07-12 | 无敌科技股份有限公司 | The control and image processing system and its method that reverse image is shown |
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| US6911997B1 (en) * | 1999-10-12 | 2005-06-28 | Matsushita Electric Industrial Co., Ltd. | Monitoring system, camera adjusting method and vehicle monitoring system |
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| US6911997B1 (en) * | 1999-10-12 | 2005-06-28 | Matsushita Electric Industrial Co., Ltd. | Monitoring system, camera adjusting method and vehicle monitoring system |
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