CN104660977B - Eye view image generating means - Google Patents
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Abstract
Present invention offer eye view image generating means, it is avoided that the complication for calculating processing, the increase of load, and the display in energy interpolation distant view region deforms and generated the transition diagram picture for being exaggerated the scope that can be shown.The eye view image generating means have：Image unit (2), it from close shot to distant view to shooting inside comprising ground surface；Image processing apparatus (4), it synthesizes eye view image from the input picture photographed by above-mentioned image unit；Display unit (6), it shows above-mentioned eye view image, wherein, above-mentioned image processing apparatus has the memory cell for being accommodated with pixel reference look-up table, the pixel reference look-up table is used to above-mentioned input picture being transformed to eye view image by plane projection conversion, and synthesize the distant view region of above-mentioned input picture in the amplification of the distant view side of the eye view image, above-mentioned look-up table is weighted to above-mentioned input picture so that higher more towards the ratio of the above-mentioned input picture in periphery and distant view side from the close shot side of above-mentioned eye view image.
Description
Technical field
The present invention relates to the generating means of the eye view image for the display quality for improving circle part, are directed primarily to drive
Sail the improvement that the image of vehicle mounted imaging apparatus is converted into eye view image and the eye view image generating means shown for the purpose of aiding in.
Background technology
Used vehicle mounted imaging apparatus has following function for the purpose of driving auxiliary during vehicle rollback etc.：In order to enter
Capable auxiliary of parking, is changed to the image photographed from vehicle rear, and is shown as hypothesis and is used as mesh from this car overhead vertical view
The eye view image that target is parked obtained by frame, this car rear end.There are the following problems in such eye view image：If it is intended to more
Rear view of vehicle (background) is extensively shown, then display image will occur moderate finite deformation and become unnatural.
In patent document 1, in addition to setting imaginary perspective plane on the ground, by setting in addition relative to ground
Inclined imaginary perspective plane, so as to the distant view image more than the upside Show Horizor of the eye view image of close shot.But should
Method is to carry out three-dimensional coordinate conversion on 2 imaginary perspective planes to generate eye view image, therefore the problem of following such be present, i.e.,
Cause the complication of calculating processing and the increase for the treatment of capacity of matrix, inverse matrix operation etc., increase load.
Patent document 1：No. 4257356 publications of Japanese Patent Publication No.
The content of the invention
Problems to be solved by the invention
The present invention be in view of actual conditions as described above and make, its object is to provide a kind of generation of eye view image
Device, it can avoid calculating the complication handled, the increase of load, and be capable of the display deformation in interpolation distant view region and give birth to
Into the transition diagram picture for being exaggerated the scope that can be shown.
The solution used to solve the problem
In order to solve above-mentioned problem, the present invention is a kind of eye view image generating means, and it has：Image unit 2), its is right
Shot inside from close shot to distant view comprising ground surface；Image processing apparatus (4), it by above-mentioned image unit from being photographed
Input picture synthesizes eye view image；And display unit (6), it is used to show above-mentioned eye view image, eye view image generation dress
Put and be characterised by, above-mentioned image processing apparatus has memory cell, and the memory cell is accommodated with pixel reference look-up table
(42), the pixel reference look-up table is used to above-mentioned input picture (10) being transformed to eye view image by plane projection conversion
(20a), and amplify in the distant view side of the eye view image and synthesize the distant view region (10b) of above-mentioned input picture, above-mentioned lookup
Table is weighted to above-mentioned input picture so that is got over from the close shot side of above-mentioned eye view image above-mentioned defeated towards periphery and distant view side
The ratio for entering image (10) is higher.
The effect of invention
The eye view image generating means of the present invention are using said structure and with following such effect.
Eye view image is synthesized from input picture using the plane projection conversion of two dimension, therefore, it is possible to avoid three-dimensional coordinate from turning
The complication of such calculating, the increase for the treatment of capacity when changing.
In the distant view side of eye view image, amplification and synthetic input image, common therefore, it is possible to suppress common eye view image
Deformation, distortion, so as to obtain that the eye view image from close shot to distant view can be shown naturally.
The processing reference of the plane projection conversion of above-mentioned eye view image and the amplification weighting synthesis in distant view region is prepared in advance
Look-up table implement, therefore can further simplify calculating processing.
In the preferable technical scheme of the present invention, above-mentioned weighting meets centered on the close shot side of above-mentioned eye view image
The distribution of concentric hyperelliptic shape.From the eye view image that input picture plane projection is converted into from close shot side more towards periphery and far
Scape side becomes bigger, therefore, by using the distribution of concentric hyperelliptic shape, from close shot eye view image to distant view input picture
Change and natural image can be obtained.Moreover, hyperelliptic can be showed with fairly simple mathematical expression, and pass through increase and decrease
Its index and make Curvature varying, therefore, also have can according to output purposes adjustment image feature the advantages of.
In addition, when above-mentioned input picture is transformed into eye view image by plane projection conversion, above-mentioned weighting is basis
Obtain referenced concentric super ellipse related to radius of number of each pixel of above-mentioned input picture during the interpolating pixel of eye view image
Circle, by approximation and carry out the weighted graph that smoothing processing obtains, so as to meet the distribution of above-mentioned hyperelliptic shape with one heart, this technical side
In case, it is employed after being weighted according to the degree of the deformation of eye view image, distortion to distant view input picture, therefore, it is possible to life
Into the good composograph with close shot eye view image and the respective feature of distant view input picture.
In the preferred technical solution of the present invention, with being transformed to for above-mentioned input picture to be changed by plane projection
The vertical view registration value corresponding to each pixel of look-up table for stating eye view image is set to g (u, v), and above-mentioned defeated for amplifying and synthesizing
The background registration value corresponding to each pixel of look-up table for entering the distant view region of image is set to h (u, v), will be according to above-mentioned weighted graph
Obtained weight coefficient is set to α, wherein 0≤α≤1, is adjusted Mobile state is entered for the weighting to above-mentioned pixel reference look-up table
Whole control is set to β with weight variable, wherein 0≤β≤1, now, above-mentioned pixel reference is with look-up table with being used by above-mentioned vertical view
Registration value f (u, v) corresponding to each pixel for the synthesis look-up table that look-up table and above-mentioned background are synthesized with look-up table can be asked by following formula
Go out.
Formula：
In the technical scheme, by increasing and decreasing control weight variable β, make close shot eye view image and distant view eye view image
Ratio is changed according to driving condition etc., so as to obtain appropriate image.
In the preferred technical solution of the present invention, above-mentioned image unit is vehicle mounted imaging apparatus, above-mentioned image processing apparatus
The steering angle of vehicle can be obtained, above-mentioned pixel reference is configured to meet the hyperelliptic index of each side around not with look-up table
With asymmetric weighted graph so that the different asymmetrical pixel of curvature as left and right with look-up table with reference to being stored in above-mentioned deposit
Storage unit, in Vehicular turn, it can generate that the ratio in the close shot distant view of the inner side and outer side of steering direction is different to be looked down
Image.In the technical scheme, carried out not on the inside of turn direction and on the outside of turn direction by the steering angle according to vehicle
Same weighting, using the teaching of the invention it is possible to provide close to the natural image of actual observation state.
Brief description of the drawings
Fig. 1 is the block diagram for the eye view image generating means for representing the 1st embodiment of the present invention.
Fig. 2 is the block diagram for the eye view image generating means for representing the 2nd embodiment of the present invention.
Fig. 3 is the figure for representing the eye view image product concept of the present invention.
Fig. 4 be from plane projection from input picture to eye view image conversion in pixel reference count distribution map and put down
Sliding treated weighted graph.
Fig. 5 is the figure for the weighting synthesis for representing look-up table.
Fig. 6 is look-up table corresponding with control weight variable β and output image.
Fig. 7 is the figure for the relation for representing asymmetric synthesis look-up table corresponding with asymmetric weighted graph and turn direction.
Fig. 8 is the side view of the relation for the dynamic weighting and viewing area for representing eye view image.
Description of reference numerals
1 eye view image generating means；2 cameras (backup camera, image unit)；3 onboard sensors；4 image procossings
Device；5 image output VRAM；6 displays；10 input pictures；11 ground surfaces；20a eye view images；20b background images；30,
31,33 figures (colour chart)；41 image input VRAM；42 fixing speeds synthesis look-up table；42a eye view images are searched
Table；42b background image look-up tables；43 regulation steering angle synthesis look-up tables；Reference count table is used in 43c weightings；44 prediction meters
Calculation look-up table；45 CPU；50,51,52 synthesis eye view images.
Embodiment
Hereinafter, the embodiment that present invention will be described in detail with reference to the accompanying.
In Fig. 1, mainly by camera 2, (reversing images the eye view image generating means 1 of the 1st embodiment of the invention
Head), onboard sensor 3, image processing apparatus 4, image output use memory (VRAM) 5 and display 6 (vehicle-mounted monitoring device)
Form.
Camera 2 is preferably the digital camera head of the solid-state imager and wide-angle lens using CMOS, CCD etc., with
Under explanation in, to being installed on vehicle rear, and can will include since body tail and be received from close shot to distant view including ground surface
The backup camera entered in visual angle illustrates.Service adapter (the service of camera 2 (backup camera) and vehicle
Connector astern signal output) is connected, and linkedly starts with reverse gear.Moreover, with the startup of backup camera linkedly
The image of display 6 is switched to the image of backup camera.Display 6 is disposed on the image display monitoring of metrical instrument plate
Device, monitor of vehicle-mounted TV, Vehicular navigation system etc. can be utilized.
Onboard sensor 3 is according to desired Systematic selection translational speed/acceleration transducer, steering angle/steering speed
Spend sensor etc..Moreover, it can also add the sensor of the measurement vehicle action such as Yaw rate sensor, gyro sensor.
Can as described later, can also utilize onboard sensor 3 to switch display image according to driving condition, be operated using driver
SW manually adjusts parameter by driver, so as to show desired image.
Image processing apparatus 4 includes such as the following part：Memory (VRAM) 41 is used in image input, and it is stored in units of frame
The view data come from the transmission of backup camera 2；Fixing speed synthesis look-up table (ROM) 42, it is used to carry out input picture
Plane projection is changed and generates eye view image and amplify in the distant view side of the eye view image and synthesize the remote of above-mentioned input picture
Scene area；Steering angle look-up table (ROM) 43 is provided, it is used to make the detected value of steering angle sensor to be reflected in output synthesis
On image；Calculating look-up table (RAM) 44 is predicted, it is used to carry out the amendment based on vehicle action prediction；And image procossing
Processor (CPU) 45, it performs calculating processing with reference to each look-up table 42~44.
Fixing speed synthesis look-up table 42 is to using the downside of indication range as close shot eye view image and show model
The upside enclosed as background image, make to get over ratio towards periphery and distant view side background image from the close shot side of eye view image and become
It is higher, also, naturally shown under the fixing speed when retreating, and to turning for carrying out plane projection to input picture
Change and generate the look-up table (eye view image look-up table 42a) of eye view image and for amplifying and closing in the distant view side of eye view image
Look-up table (background image with look-up table 42b) into the distant view region of input picture is weighted the look-up table that synthesis forms, should
Fixing speed synthesis look-up table 42 is stored in read-only storage (ROM).
In addition it is also possible to the eye view image generating means 1 ' of the 2nd embodiment as shown in Figure 2 are like that, separately
Searched with eye view image with look-up table (ROM) 42a and background image with look-up table (ROM) 42b instead of fixing speed synthesis
Table 42, using regulation steering angle with reference count table 43c to eye view image with look-up table 42a and background image look-up table
42b is weighted and directly calculated, so as to generate output composograph.
Then, the genesis sequence of the eye view image based on above-mentioned 1st embodiment is illustrated.
Fig. 3 represents the eye view image product concept of the present invention, and the left side in figure, which is shown, utilizes the defeated of the shooting of camera 2
Enter image 10.The input picture 10 is will to take in regard from the close shot including comprising vehicle rear and its neighbouring ground surface to distant view
The wide angle picture formed in angle, there is inevitable distortion aberration, still, as shown in figure 8, the ground surface in input picture 10
11 plane coordinates is to set height and setting angle to determine according to camera 2, therefore, by being gone from the plane coordinates
Except wide-angle lens distortion aberration and carry out plane projection conversion can obtain eye view image 20a.
In plane projection conversion, eye view image 20a and 10a pairs of the region of the generally trapezoidal shape of input picture 10
Should, it is that by the coordinate of each pixel, movement forms in two dimensional surface in plane projection conversion, therefore, it is possible to each using regulation
The look-up table 42a of the mobile g (u, v) of pixel.Eye view image 20a image is as the periphery into region and distant view are gone and are drawn
Stretch, correspondingly original image 10a same pixel is interpolated by multiple reference, big so as to the change deformation of distant view side.
On the other hand, the input picture 10 without plane projection conversion does not produce deformation as described above, therefore, if bowing
Look down from a height the Background that synthesis is sheared and amplified to the distant view region 10b of input picture 10 on image 20a distant view region
Picture 20b, then it can obtain the synthesis eye view image 52 of both advantages.Now, prepare synthesis look-up table 42, synthesize look-up table 42
It is the shifting that will mainly define each pixel in the processing that the distant view region 10b of the input picture 10 is sheared and amplified
Dynamic h (u, v) look-up table 42b is used as upside, mainly using eye view image 20a by the use of look-up table 42a be used as on the downside of, and in middle scape extremely
Distant view region is swimmingly continuously weighted what synthesis formed, and synthesis look-up table 42 is applied to each picture in input picture 10
Element, so as to export synthesis eye view image 52 immediately.In addition, look-up table in the various figures is simplifiedly shown for convenience
Out.
Then, eye view image 20a and background image 20b weighting synthesis is illustrated.
Fig. 4 represents input picture 10 and the converted eye view image 20a of plane projection corresponding relation is carried out to it.Such as
Above-mentioned such, eye view image 20a image is stretched with being gone to periphery and distant view, and correspondingly original image 10a's is same
The referenced number of one pixel increases, and the change deformation of image is big and resolution ratio reduces, and display is thicker.
For example, in input picture 10,1 pixels of the less road cone 10c on input picture 10 is shown to obtain a long way off
On eye view image 20a be exaggerated and turn into 4 pixels, in the case, same pixel is repeated 4 times reference, and show by
Widen 4 times of shape.Therefore, if the count value of the repetition reference count is recorded as to synthesize adding for look-up table 42 for performing
The table (reference count table) of power, then background image 20b is synthesized according to the rugosity of eye view image 20a display, and institute can be carried out
Need Min. and meet the weighting of purpose.
In addition, the moving direction of the pixel of plane projection conversion is general radial, on the other hand, image procossing is relative
Carried out in the pixel arrangement of square lattice shape, therefore, as shown in the figure (colour chart) 30 of lower-left in Fig. 4,
The count value that above-mentioned reference count table is registered turns into discontinuous discrete state.When implementing to weight with the discrete state, close
Discontinuous pixel is also produced into image, and turns into unnatural image.Therefore, smooth Figure 30 using approximate processing etc.
(most appropriateization), so that reference count table has continuous count value.
The figure (colour chart) 31 of bottom right represents to enter reference count using the concentric hyperelliptic associated with radius in Fig. 4
Row is approximate and the state after being smoothed.Hyperelliptic is represented with following formula, by making index n changes to make curvature
Change, by making each variable u, v denominator carry out various change to turn into concentric hyperelliptic group.
Formula
|(u/a)|n+|(v/b)|n=1
Herein, n=2 situation is the common ellipse of no flat part, and n is bigger, and flat part is more widened, and square is super
Oval feature becomes more notable.Therefore, by adjusting above-mentioned parameter, it is nothing that can reach high-precision approximate and most appropriateization
It need to repeat, by more energetically adjustment parameter, various applications can be carried out.In addition, for smoothing processing, it can also apply and remove
Approximate processing, geometry processing or filtration treatment beyond hyperelliptic etc..
When generating synthesis look-up table 42 based on above-mentioned reference count table (Figure 31), reference count table also can be directly applied
Weight coefficient (count value), but naturally weighted as maintenance it is constant in the state of, can according to driving condition dynamic
The way for adjusting close shot eye view image 20a and background image 20b ratio is favourable.Hereinafter, reference picture 5, Fig. 6 are to using
The generation of dynamic weight coefficient β synthesis look-up table 42 illustrates.
In Figure 5, the conversion registered in eye view image with look-up table 42a each unit (a) is set to g with coordinate information
(u, v), h (u, v) will be set to the conversion that look-up table 42b each unit (b) is registered with coordinate information in background image, will be
The conversion that each unit (a, b, m) of synthesis look-up table 42 is registered is set to f (u, v) with coordinate information, will be with eye view image 20a weights
Weight coefficient based on the multiple number with reference to input picture 10 is set to α, wherein 0≤α≤1, will be used to dynamically adjusting synthesis and look into
The weight coefficient of table 42 is looked for be set to β, wherein 0≤β≤1, now, for generating the following formula of the change type of synthesis look-up table 42
Subrepresentation.
Formula
Synthesis look-up table 42 is shown as eye view image 20a in close shot region (a) respectively, is shown as carrying on the back in distant view region (b)
Scape image 20b, the intermediate region (m) between close shot region (a) and distant view region (b) are to deform (morphing) region, such as Fig. 8
It is shown, from eye view image 20a seamless branches to background image 20b., can thereby, it is possible to form such parking assisting system
Enough ensure the less back visibibility of distortion, and the near distance perspective of this car can be easy to grasp and parked auxiliary.
Moreover, parking in reality, the point to be paid close attention to of driver according to circumstances changes, therefore, pass through basis
The driving conditions such as speed adjust dynamic weighting factor beta, make the dynamic change of synthesis look-up table 42, for example, can be according to auxiliary of parking
The truck position of this when parking in system and appropriate image is provided to driver.
Fig. 6 represents the figure of one example, for input picture 10,
If 1) using dynamic weighting coefficient：β=0, then generation are only looked into by eye view image with synthesizing of forming of look-up table 42a
Table 420 is looked for, display only synthesizes eye view image 50 by what eye view image 20a was formed；
If 2) using dynamic weighting coefficient：β=0.015, then it is larger with look-up table 42a weight to generate eye view image
Synthesize look-up table 421, the synthesis eye view image 51 that display background image 20b forms slightly into eye view image 20a rear；
If 3) using dynamic weighting coefficient：β=0.03, then generation is by eye view image look-up table 42a and background image
With look-up table 42b with similar in comparison ratio synthesize synthesis look-up table 422, display eye view image 20a and background image 20b without
Seam ground is continuous, and more largo includes the synthesis eye view image 52 of back visibibility.
Then, reference picture 7 illustrates the dynamic image switching display corresponding with steering angle, and it according to vehicle as with moving
Make an example of corresponding dynamic image switching display function.
As described above, approximation is carried out to be smoothed with reference count table (Figure 30) to weighting using concentric hyperelliptic
The Figure 31 formed is by making index n changes to make Curvature varying.In Fig. 7 (b), show from n=2 (ellipse) to n
=5 various situations.
Therefore, as shown in Fig. 7 (a), using by the hyperelliptic index n in weighting with each side in left and right on reference count table
The asymmetric weighted graph 33 of different weighted graph 33L, 33R synthesis, and generate asymmetrical synthesis look-up table 43.In turning for vehicle
When curved, as long as according to the left and right either side of turn direction application synthesis look-up table 43, export in the inner side and outer side of turn direction
The different image of the ratio of close shot distant view, the movement (track=amount of movement) of background during for turning just can show that with it is interior
Wheel difference is corresponding mobile.Moreover, by the corresponding steering angle of application and the different synthesis look-up table 43 of curvature, using the teaching of the invention it is possible to provide close
The natural image of actual observation state.
In the eye view image generating means 1 of the 1st embodiment as described above, to eye view image with look-up table 42a's
Coordinate Conversion information g (u, v), background image are joined with look-up table 42b Coordinate Conversion information h (u, v) registration and weighting
Generation (Figure 30) and smoothing processing (Figure 31) according to frequency table are just completed in advance in the preparatory stage, the thing in image processing apparatus 4
First register the fixing speed synthesis look-up table 42 and regulation steering angle look-up table 43 required for the switching at runtime of display image.
Immediately processing, i.e., vehicle drive when, using fixing speed corresponding with the information from onboard sensor 3 synthesize look-up table 42 and
Provide that steering angle look-up table 43 obtains the coordinate information needed for image conversion, show assistant images of parking.
In addition, in the eye view image generating means 1 ' of the 2nd embodiment, completed in advance to eye view image in the preparatory stage
With look-up table 42a, the registration of background image look-up table 42b Coordinate Conversion information and the generation of weighting reference count table
(Figure 30) and smoothing processing (Figure 31), is identical in this point, still, in instant processing, based on being used from eye view image
Look-up table 42a, background image look-up table 42b, weighting reference count table 43c and onboard sensor 3 information, directly count
Calculate the coordinate information needed for image conversion.
Several embodiments of the invention is this concludes the description of, but the present invention is not limited to above-mentioned embodiment, can be based on
The technological thought of the present invention further carries out various modifications and change.
For example, in the respective embodiments described above, it is used as auxiliary using parking for the backup camera for being installed on vehicle rear
The present invention is described for the situation for helping video generation device to implement, but can be used as execution make backup camera with before
The eye view image generating means of display that what square camera, side camera were formed by combining look around are implemented.It is further possible to
Implement in eye view image display system outside vehicle.
Claims (4)
1. a kind of eye view image generating means, it has：
Image unit, it from close shot to distant view to shooting inside comprising ground surface；
Image processing apparatus, it synthesizes eye view image from the input picture photographed by above-mentioned image unit；And
Display unit, it is used to show above-mentioned eye view image, and the eye view image generating means are characterised by,
Above-mentioned image processing apparatus has memory cell, and the memory cell is accommodated with pixel reference look-up table, the pixel reference
It is used to above-mentioned input picture being transformed to eye view image by plane projection conversion with look-up table, and in the remote of the eye view image
Scape side is amplified and synthesizes the distant view region of above-mentioned input picture, and above-mentioned look-up table is weighted to above-mentioned input picture, above-mentioned to add
Power meets the distribution of the concentric hyperelliptic shape centered on the close shot side of above-mentioned eye view image so that from the near of above-mentioned eye view image
Scape side is more higher towards the ratio of the above-mentioned input picture in periphery and distant view side.
2. eye view image generating means according to claim 1, it is characterised in that
When above-mentioned input picture is transformed into eye view image by plane projection conversion, above-mentioned weighting is that basis obtains aerial view
The referenced number of each pixel of the above-mentioned input picture concentric hyperelliptic related to radius, passes through approximation during the interpolating pixel of picture
The weighted graph obtained with smoothing processing, so as to meet the distribution of above-mentioned hyperelliptic shape with one heart.
3. eye view image generating means according to claim 2, it is characterised in that
With for by above-mentioned input picture by plane projection conversion be transformed to above-mentioned eye view image vertical view look-up table it is each
Registration value is set to g (u, v) corresponding to pixel, is searched with the background in the distant view region for amplifying and synthesizing above-mentioned input picture
Registration value corresponding to each pixel of table is set to h (u, v), the weight coefficient obtained according to above-mentioned weighted graph is set into α, wherein 0≤α
≤ 1, by for above-mentioned pixel with reference to look-up table weight into Mobile state adjust control be set to β with weight variable, wherein 0
≤ β≤1, now, above-mentioned pixel reference are synthesized with look-up table with by above-mentioned vertical view with look-up table and above-mentioned background with look-up table
Synthesis look-up table each pixel corresponding to registration value f (u, v) can be obtained by following formula,
Formula：
<mrow>
<mi>f</mi>
<mrow>
<mo>(</mo>
<mi>u</mi>
<mo>,</mo>
<mi>v</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfrac>
<mrow>
<mi>g</mi>
<mrow>
<mo>(</mo>
<mi>u</mi>
<mo>,</mo>
<mi>v</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>&beta;</mi>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<mi>&alpha;</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>&CenterDot;</mo>
<mi>h</mi>
<mrow>
<mo>(</mo>
<mi>u</mi>
<mo>,</mo>
<mi>v</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mn>1</mn>
<mo>+</mo>
<mi>&beta;</mi>
<mo>&CenterDot;</mo>
<mrow>
<mo>(</mo>
<mi>&alpha;</mi>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
<mo>.</mo>
</mrow>
4. the eye view image generating means according to Claims 2 or 3, it is characterised in that
Above-mentioned image unit is vehicle mounted imaging apparatus, and above-mentioned image processing apparatus can obtain the steering angle of vehicle, above-mentioned picture
Element reference is configured to meet the different asymmetric weighted graph of the hyperelliptic index of each side around with look-up table so that as left and right
The different asymmetrical pixel of curvature with reference to said memory cells are stored in look-up table, in Vehicular turn, can generate
In the different eye view image of the ratio of the close shot distant view of the inner side and outer side of steering direction.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| JP6276719B2 (en) * | 2015-02-05 | 2018-02-07 | クラリオン株式会社 | Image generation device, coordinate conversion table creation device, and creation method |
| CN107534757B (en) * | 2015-08-10 | 2020-04-10 | Jvc 建伍株式会社 | Vehicle display device and vehicle display method |
| JP6561824B2 (en) * | 2015-12-18 | 2019-08-21 | 株式会社デンソー | Display control device |
| JP6827302B2 (en) * | 2016-11-17 | 2021-02-10 | 萩原電気ホールディングス株式会社 | Image compositing device and image compositing method |
| CN109455142A (en) * | 2018-12-29 | 2019-03-12 | 上海梅克朗汽车镜有限公司 | Visual field pattern of fusion panorama electronics rearview mirror system |
| CN109455141A (en) * | 2018-12-29 | 2019-03-12 | 上海梅克朗汽车镜有限公司 | The electronics rearview mirror system automatically adjusted with angle of turn |
| JP7160730B2 (en) * | 2019-03-20 | 2022-10-25 | 本田技研工業株式会社 | VEHICLE SYSTEM, VEHICLE SYSTEM CONTROL METHOD, AND PROGRAM |
| CN110672111B (en) * | 2019-09-24 | 2021-06-25 | 广州大学 | Vehicle driving path planning method, device, system, medium and equipment |
| CN112367502B (en) * | 2020-10-19 | 2023-12-26 | 合肥晟泰克汽车电子股份有限公司 | Road condition picture splicing method |
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| JP2002083285A (en) * | 2000-07-07 | 2002-03-22 | Matsushita Electric Ind Co Ltd | Image compositing device and image compositing method |
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| JP2008271308A (en) * | 2007-04-23 | 2008-11-06 | Sanyo Electric Co Ltd | Image processor and method, and vehicle |
| JP5292874B2 (en) * | 2007-12-17 | 2013-09-18 | 富士通株式会社 | VEHICLE IMAGE PROCESSING DEVICE, VEHICLE IMAGE PROCESSING PROGRAM, AND VEHICLE IMAGE PROCESSING METHOD |
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| JP2005311868A (en) * | 2004-04-23 | 2005-11-04 | Auto Network Gijutsu Kenkyusho:Kk | Vehicle periphery visually recognizing apparatus |
| CN101978694A (en) * | 2008-03-19 | 2011-02-16 | 三洋电机株式会社 | Image processing device and method, driving support system, and vehicle |
| CN102821267A (en) * | 2011-06-08 | 2012-12-12 | 富士通天株式会社 | Image generation apparatus and image generation method |
| CN103379314A (en) * | 2012-04-27 | 2013-10-30 | 能晶科技股份有限公司 | Aerial view acquisition system and aerial view acquisition method thereof |
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| CN104660977A (en) | 2015-05-27 |
| DE102014114565A1 (en) | 2015-05-21 |
| JP2015097335A (en) | 2015-05-21 |
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