CN202573989U - Around-car aerial view device - Google Patents

Abstract

The utility model provides an around-car aerial view device, which is arranged on a car. The around-car aerial view device comprises a plurality of image obtaining elements for capturing a plurality of environmental images, an image processor and a display, wherein the image processor is provided with a deformation correction module, a characteristic mark selection module, a reference image establishing module, a plane projection conversion module and an aerial view image synthesizing module; the deformation correction module is coupled with the image obtaining elements; the characteristic mark selection module is coupled with the deformation correction module, the reference image establishing module and the plane projection conversion module; the aerial view image synthesizing module is coupled with the plane projection conversion module; and the display is coupled with the aerial view image synthesizing module of the image processor. The image obtaining elements obtain the environmental images around the car and the image processor utilizes each environmental image and the corresponding characteristic mark of an aerial view reference image to carry out plane conversion to be projected to the corresponding position of a target image, so as to rapidly generate an around-car aerial view image; and the around-car aerial view image is used as the reference of each driving condition for a driver.

Description

The ring car is got a bird's eye view device

Technical field

The utility model is got a bird's eye view device about a kind of ring car, especially a kind ofly can get a bird's eye view image by the vehicle's surroundings video compositing, and the ring car of understanding the various situations of driving in order to the driver assistance person is got a bird's eye view device.

Background technology

(for example: in the time of reversing etc.), vehicle's surroundings can produce visual dead angle, lets the driver can't discover pedestrian or article in this visual dead angle scope easily, not only perplexs the driver, and the pedestrian of vehicle periphery is caused danger when driver's steering vehicle.Therefore, develop gradually and many auxiliary devices of driving, for example: ultrasonic radar or ring car are got a bird's eye view device etc.

See also shown in Figure 1; TaiWan, China is announced " reverse radar system of automobile image is got a bird's eye view in demonstration " I320756 number; Disclose a kind of existing ring car and get a bird's eye view device 9; Comprise several fish eye lenses 91, a car running computer 92 and a screen 93, this fish eye lens 91 disperses to be arranged at a vehicle V, in order to take this vehicle V around the scenery image; This car running computer 92 reads this scenery image with fish eye lens effect (shown in Fig. 2 a); And carry out several image processing means; For example: be out of shape correction (shown in Fig. 2 b), change and synthesize etc., this scenery video compositing is one gets a bird's eye view automobile image, and be shown in this screen 93.

Yet; Existing ring car is got a bird's eye view device 9 to be needed to pass through the video compositing computing again through repeatedly visual angle and geometric transformation computing, and scenery image is all around sewed up; Can produce this and get a bird's eye view automobile image; Thus, this gets a bird's eye view the operand of automobile image with significantly increasing generation, makes that producing this gets a bird's eye view the spent time expand of automobile image.

For these reasons; Be necessary to provide a kind of ring car to get a bird's eye view device, can computing be integrated in visual angle conversion and video compositing, as long as can obtain the image of vehicle's surroundings environment; Can produce the ring car apace and get a bird's eye view image, supply the reference of driver as the various situation of driving.

The utility model content

The purpose of the utility model is the above-mentioned shortcoming of improvement, gets a bird's eye view device so that a kind of ring car to be provided, and by computing is integrated in visual angle conversion and video compositing, produces the purpose that the ring car is got a bird's eye view image apace and reach.

For reaching aforementioned goal of the invention, the technological means that the utility model used includes:

A kind of ring car is got a bird's eye view device, in order to be arranged at a vehicle, comprises: several image-finding elements, in order to capture several environmental images of this vehicle's surroundings; An image processor; Being provided with a distortion proofreaies and correct module, signature and chooses module, one and set up module, plane projection conversion module and one with reference to image and get a bird's eye view the video compositing module; This distortion is proofreaied and correct module and is coupled this image-finding element; This signature is chosen module and is coupled that module is proofreaied and correct in this distortion, this sets up module and this plane projection conversion module with reference to image, and this is got a bird's eye view the video compositing module and couples this plane projection conversion module; And a telltale, what couple this image processor gets a bird's eye view the video compositing module; Wherein, this image processor is by the made digitized video treater of IC, field programmable gate array, silicon intellectual property or its combination in any; Perhaps this image processor is by the made digitized video transaction card of IC, field programmable gate array, silicon intellectual property or its combination in any; Perhaps this image processor is by the made specific function IC of IC, field programmable gate array, silicon intellectual property or its combination in any; Perhaps this image processor is by IC, field programmable gate array, silicon intellectual property or the made system level chip of its combination in any.

Wherein, this image-finding element be arranged at this vehicle forward and backward, a left side and right-hand to outside face.

Wherein, other comprises a housing, and this image processor is contained in the inside of this housing, and this telltale exposes the surface of this housing.

Wherein, this image processor and this telltale are integrated in the car running computer and the read out instrument of this vehicle interior.

Wherein, the digitized video treater of this image processor for cooperating software algorithm to process by digital signal processor or microprocessor.

Wherein, this image processor is with fixed type or detachable this image-finding element that couples.

The useful technique effect of the utility model is: the utility model ring car get a bird's eye view device through these several image-finding elements obtain this vehicle around environmental images after; This image processor each environmental images capable of using is carried out plane conversion with this corresponding signature of getting a bird's eye view with reference to image; And be projected to the relevant position of this target image, and synthetic this ring car is got a bird's eye view image.Get a bird's eye view device compared to existing ring car, the utility model only need utilize this to get a bird's eye view the signature with reference to image, can and be the single-relation formula with visual angle conversion and video compositing; And do not need through repeatedly visual angle, geometric transformation computing and video compositing computing; Thus, this gets a bird's eye view the operand of automobile image can significantly to reduce generation, gets a bird's eye view image and produce this ring car apace; For the reference of driver, be the effect of the utility model as the various situation of driving.

Description of drawings

Fig. 1: existing ring car is got a bird's eye view the system schematic of device.

Fig. 2 a: existing ring car is got a bird's eye view the fish eye lens scheme drawing of device.

Fig. 2 b: scheme drawing is proofreaied and correct in the distortion that existing ring car is got a bird's eye view device.

Fig. 3: the utility model ring car is got a bird's eye view the system block diagrams of device preferred embodiment.

Fig. 4: the utility model ring car is got a bird's eye view the operation workflow figure of the image processor of device.

Fig. 5 a: the utility model ring car is got a bird's eye view the scheme drawing of the environmental images of device.

Fig. 5 b: the utility model ring car is got a bird's eye view the scheme drawing of the correcting image of device.

Fig. 6: the utility model ring car is got a bird's eye view the scheme drawing with reference to image of device.

Fig. 7: the utility model ring car is got a bird's eye view the scheme drawing of the plane projection conversion of device.

Fig. 8: the ring car that the utility model ring car is got a bird's eye view device is got a bird's eye view the scheme drawing of image.

[main element nomenclature]

(the utility model)

1 image-finding element, 2 image processors

21 distortion are proofreaied and correct module 22 signatures and are chosen module

23 set up module 24 plane projections with reference to image changes module

25 get a bird's eye view video compositing module 3 telltales

B is got a bird's eye view the signature with reference to image C1 signature C2

C3 signature C4 signature C5 signature

C6 signature C7 signature C8 signature

C9 signature C10 signature C11 signature

C12 signature C13 signature C14 signature

C15 signature C16 signature C1 ' signature

C2 ' signature C3 ' signature C2 ' signature

E1 environmental images R1 correcting image R2 correcting image

R3 correcting image R4 correcting image

S1 distortion aligning step S2 signature is chosen step

S3 plane projection switch process S4 is got a bird's eye view the video compositing step

T ring car is got a bird's eye view image

9 existing ring cars are got a bird's eye view device 91 fish eye lenses 92 car running computers 93 screens

The specific embodiment

For letting the above-mentioned of the utility model and other purposes, characteristic and the advantage can be more obviously understandable, the special preferred embodiment of lifting the utility model of hereinafter, and conjunction with figs. elaborate as follows:

The utility model full text described " coupling " (Coupling); Refer between the two hardware modules (hardware module) through modes such as the connection of entity line electricity, radio communication or its combinations; Image data can be transmitted each other; Perhaps, through modes such as data access or exchanges, image data can be transmitted each other between two software module (software module) or the software object (software object); In order to carry out image processing, its detailed operation situation is to have common knowledge the knowledgeable in the technical field under the utility model to be appreciated that.

See also shown in Figure 3; It gets a bird's eye view the system block diagrams of device preferred embodiment for the utility model ring car; This ring car is got a bird's eye view device and is comprised several image-finding elements 1, an image processor 2 and a telltale 3; This image-finding element 1 couples this image processor 2, and this telltale 3 couples this image processor 2.

This image-finding element 1 is processed by the equipment with image acquisition function; For example: have the video camera (camera) of fish eye lens (fish-eye lens) etc.; This image-finding element 1 can disperse to be arranged at the outside face of a vehicle (Vehicle); For example: be located at this vehicle forward and backward a, left side and right-hand to outside face etc., in order to obtain this vehicle around image (being several environmental images), supply the driver as the reference of driving; Wherein, the quantity of this image-finding element 1 can be chosen as more than 4 or 4.In this embodiment, this image-finding element 1 has fish-eye video camera as embodiment with 4, is located at front bumper, the rear bumper arm of this vehicle respectively, left-hand mirror and right back visor, but not as limit; These several image-finding elements 1 can produce the environmental images that several have the flake effect after obtaining the image all around of this vehicle, and this environmental images has several signatures.

This image processor 2 is processed by the equipment with image processing and memory function; For example: by IC (Integrated Circuit; IC), field programmable gate array (Field Programmable Gate Array; FPGA), silicon intellectual property (Silicon Intellectual Property; SIP) or made digitized video treater (digital image processor), digitized video transaction card (digital image card), specific function IC (the Application-Specific Integrated Circuit of its combination in any; ASIC) or system level chip (System on a Chip SoC) waits hardware (hardware); Perhaps; By digital signal processor (Digital Signal Processor; DSP) or microprocessor (micro-processor) cooperate software algorithm (software algorithm) to process digitized video treater etc.; This image processor 2 is arranged at this vehicle inside, chooses in order to above-mentioned several environmental images are out of shape correction, signature, plane projection is changed and get a bird's eye view computings such as video compositing, gets a bird's eye view (bird's eye view) image and form a ring car.In this embodiment, this image processor 2 is processed the digitized video transaction card with several IC and is explained as embodiment, but not as limit.

Please consult shown in Figure 3 again; Wherein, This image processor 2 comprises a distortion and proofreaies and correct module 21, signature and choose module 22, one and set up module 23, plane projection conversion module 24 and one with reference to image and get a bird's eye view video compositing module 25; This distortion is proofreaied and correct module 21 and is coupled this image-finding element 1; This signature is chosen module 22 and is coupled that module 21 is proofreaied and correct in this distortion, this sets up module 23 and this plane projection conversion module 24 with reference to image, and this is got a bird's eye view video compositing module 25 and couples this plane projection conversion module 24 and this telltale 3.

Please consult shown in Fig. 3 and 4 again; Wherein, Fig. 4 is the operation workflow figure of the image processor 2 of the utility model; Comprise a distortion aligning step S1, signature and choose step S2, plane projection switch process S3 and one and get a bird's eye view video compositing step S4, this distortion aligning step S1 proofreaies and correct module 21 by this distortion and obtains this several environmental images to this image-finding element 1, is undeformable correcting image with this environmental images correction again.For example; The environmental images that is captured with the image-finding element 1 of being located at this vehicle front is an example, and shown in Fig. 5 a, this environmental images E1 with flake effect has C1 ' to 4 signatures such as C4 '; After these distortion correction module 21 corrections; Form undeformable correcting image R1 (shown in Fig. 5 b), this correcting image R1 also has C1 ' to 4 signatures such as C4 ', wherein; The mode that this distortion is proofreaied and correct is that technical field has common knowledge the knowledgeable and is appreciated that in this appearance and do not give unnecessary details under the utility model.

Please consult Fig. 3 again, shown in 4 and 6; Fig. 6 is the scheme drawing with reference to image of getting a bird's eye view of the utility model; Wherein, This signature is chosen step S2 and is earlier set up module 23 by this with reference to image and produce one and get a bird's eye view with reference to image B, and this is got a bird's eye view with reference to image B and can take or modes such as computer graphics software drafting through video camera, form several (for example: 4 * n) signatures (characteristic mark).In this embodiment, this is got a bird's eye view with reference to 16 signatures such as image B formation C1 to C16.Then; Choosing module 22 by this signature again gets a bird's eye view with reference to image B and each correcting image (for example: be located at the environmental images that the image-finding element 1 of this vehicle front is captured) from this and chooses at least four group individual features marks in regular turn; For example: select earlier this to get a bird's eye view signature C1 ' with reference to the signature C1 to C4 of image B and this correcting image R1, select this to get a bird's eye view again in regular turn with reference to other signatures of image B and the signature of other correcting images to C4 '.In this embodiment, be with this get a bird's eye view with reference to the signature C1 ' of the signature C1 to C4 of image B and this correcting image R1 to C4 ' as the embodiment explanation.

Please consult Fig. 3 again, shown in 4 and 7; Fig. 7 is the scheme drawing of the plane projection conversion of the utility model; Wherein, This plane projection switch process S3 is got a bird's eye view according to this by this plane projection conversion module 24 that coordinate with reference to the individual features mark of image B and this correcting image R1 calculates this correcting image B and this gets a bird's eye view the plane conversion relation value with reference to image B, and its account form is as shown in the formula shown in (1) to (6):

$\left[\begin{array}{c}\mathrm{XW}\\ \mathrm{YW}\\ W\end{array}\right]=\left[\begin{array}{ccc}a& b& c\\ d& e& f\\ g& h& 1\end{array}\right]\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]---\left(1\right)$

W=gx+hy+1（2）

$\left[\begin{array}{c}X\\ Y\\ 1\end{array}\right]=\frac{\left[\begin{array}{ccc}a& b& c\\ d& e& f\\ g& h& 1\end{array}\right]\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]}{\left[\begin{array}{ccc}g& h& 1\end{array}\right]\left[\begin{array}{c}x\\ y\\ 1\end{array}\right]}---\left(3\right)$

$X=\frac{\mathrm{ax}+\mathrm{by}+c}{\mathrm{gx}+\mathrm{hy}+1}=\mathrm{ax}+\mathrm{by}+c-\mathrm{gXx}-\mathrm{hXy}---\left(4\right)$

$=\mathrm{ax}+\mathrm{by}+c-0d+0e+0f-\mathrm{Xxg}-\mathrm{Xyh}$

$Y=\frac{\mathrm{dx}+\mathrm{ey}+f}{\mathrm{gx}+\mathrm{hy}+1}=\mathrm{dx}+\mathrm{ey}+f-\mathrm{gYx}-\mathrm{hYy}---\left(5\right)$

$=0a+0b+0c+\mathrm{xd}+\mathrm{ye}+f-\mathrm{Yxg}-\mathrm{Yyh}$

$\left[\begin{array}{cccccccc}{x}_1& {\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HDA0000128533860000021.png,HDA0000128533860000071.png"\; state="\{\{state\}\}">y</figure-callout>}}_1& 1& 0& 0& 0& -X_1{x}_1& -X_1{\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HDA0000128533860000021.png,HDA0000128533860000071.png"\; state="\{\{state\}\}">y</figure-callout>}}_1\\ 0& 0& 0& x_1& {\mathrm{<figure-callout\; id="1"\; label="y"\; filenames="HDA0000128533860000021.png,HDA0000128533860000071.png"\; state="\{\{state\}\}">y</figure-callout>}}_1& 1& -Y_1{x}_1& -Y_1{y}_1\\ x_2& {\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA0000128533860000021.png"\; state="\{\{state\}\}">y</figure-callout>}}_2& 1& 0& 0& 0& -X_2{x}_2& -X_2{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA0000128533860000021.png"\; state="\{\{state\}\}">y</figure-callout>}}_2\\ 0& 0& 0& x_2& {\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA0000128533860000021.png"\; state="\{\{state\}\}">y</figure-callout>}}_2& 1& -Y_2{y}_2& -Y_2{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA0000128533860000021.png"\; state="\{\{state\}\}">y</figure-callout>}}_2\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ x_n& y_n& 1& 0& 0& 0& -X_n{x}_n& -X_{\mathrm{<figure-callout\; id="0"\; label="n\; x\; n"\; filenames="HDA0000128533860000012.png"\; state="\{\{state\}\}">n</figure-callout>}}{x}_n{}_{}\\ 0& 0& 0& x_n& y_n& 1& -Y_n{x}_n& -Y_n{y}_n\end{array}\right]\left[\begin{array}{c}a\\ b\\ c\\ d\\ e\\ f\\ g\end{array}\right]=\left[\begin{array}{c}{X}_1\\ Y_1\\ X_2\\ {\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="HDA0000128533860000021.png"\; state="\{\{state\}\}">Y</figure-callout>}}_2\\ \&CenterDot;\\ \&CenterDot;\\ \&CenterDot;\\ X_n\\ Y_n\end{array}\right]---\left(6\right)$

Wherein, (x1, y1), (x2, y2) ... And (xn yn) is the image plane coordinate (image plane coordinate) of the signature of this correcting image R1; A, b, c, d, e, f and g are convesion factor; (X1, Y1), (X2, Y2) ... And (Xn Yn) is got a bird's eye view the world's plane coordinates (world plane coordinate) with reference to the signature of image B for this.Therefore, can get a bird's eye view with reference to the plane conversion relation value between the signature of the different characteristic mark of image B and different correcting image R1, learn that this correcting image R1 is projected to this and gets a bird's eye view the opposite position with reference to image B by this.In other words, getting a bird's eye view with reference to the plane conversion relation between the signature of the different characteristic mark of image B and different correcting image R1 by this, can and be the single-relation formula with visual angle conversion and video compositing.

Please consult Fig. 3 again, shown in 4 and 8; Fig. 8 is got a bird's eye view the scheme drawing of image for the ring car of the utility model; Wherein, This is got a bird's eye view video compositing step S4 and gets a bird's eye view video compositing module 25 by this and according to this plane conversion relation value each correcting image R1, R2, R3 and R4 are projected to the relevant position of a target image, for example: each correcting image R1, R2, R3 and R4 are projected to forward and backward a, left side and the right (according to the drawing) of this target image respectively, and synthetic this ring car is got a bird's eye view image T.In detail; Because this gets a bird's eye view the signature position with reference to respectively corresponding each correcting image in signature position of image; For example: signature C1 to C4 to signature that should correcting image R1, signature C5 to C8 to signature that should correcting image R2, signature C9 to C12 to signature that should correcting image R3 and signature C13 to C16 to signature that should correcting image R4; Therefore; Via each correcting image and this get a bird's eye view carry out the plane conversion computing in regular turn with reference to image after, can the location of pixels of each correcting image R1, R2, R3 and R4 directly be projected to forward and backward a, left side and the right (according to drawing) that this ring car is got a bird's eye view image T, therefore; The pixel projection location-appropriate combination of each correcting image R1, R2, R3 and R4 can obtain this ring car and get a bird's eye view image T.

Please consult shown in Figure 3 again; This telltale 3 is processed by the equipment with image Presentation Function, for example: Touch Screen or LCD screen etc., this telltale 3 is arranged at this vehicle inside; In order to showing that this ring car gets a bird's eye view image, the confession driver watches and the REFERENCE INFORMATION of conduct when driving.Wherein, this telltale 3 also can be processed by the read out instrument that this vehicle possessed.In this embodiment, this telltale 3 is as embodiment with a LCD screen.

In addition; The utility model ring car is got a bird's eye view device can also be provided with a housing (figure does not illustrate); This housing can be processed hollow housing by hard materials such as metal or plastic cement; This housing can be provided with this image processor 2 and this telltale 3, makes this image processor 2 be contained in the inside of this housing, and the surface that makes this telltale 3 expose this housing.Wherein, this image processor 2 can be fixed type with this image-finding element 1 and couples (for example: utilize signal wire (SW) to be connected this image processor 2 and this image-finding element 1) or detachable coupling (for example: utilize plug to be connected this image processor 2 and this image-finding element 1 with socket).Therefore, through this image processor 2 and this telltale 3 being arranged at the technological means of this housing, can make this image processor 2 and this telltale 3 form a portable device.

The utility model ring car is got a bird's eye view and is installed on when using, and these several image-finding elements 1 are located at front bumper, the rear bumper arm of this vehicle, left-hand mirror and right back visor (as shown in Figure 8).3 of this image processor 2 and this telltales are arranged at this vehicle inside, and this image processor 2 and this telltale 3 can be integrated in the car running computer and the read out instrument of this vehicle inside, or process this portable device by this housing.Obtain the environmental images all around of this vehicle when these several image-finding elements 1 after; These image processor 2 each environmental images capable of using are carried out plane conversion with this corresponding signature of getting a bird's eye view with reference to image; And be projected to the relevant position of this target image; And synthetic this ring car is got a bird's eye view image, reaches to supply the purpose of driver as the reference of the various situation of driving.

By the technological means of preceding taking off, the principal feature that the ring car that the utility model disclosed is got a bird's eye view device is listed below:

The utility model ring car get a bird's eye view device through these several image-finding elements 1 obtain this vehicle around environmental images after; These image processor 2 each environmental images capable of using are carried out plane conversion with this corresponding signature of getting a bird's eye view with reference to image; And be projected to the relevant position of this target image, and synthetic this ring car is got a bird's eye view image.Get a bird's eye view device compared to existing ring car, the utility model only need utilize this to get a bird's eye view the signature with reference to image, can and be the single-relation formula with visual angle conversion and video compositing; And do not need through repeatedly visual angle, geometric transformation computing and video compositing computing; Thus, this gets a bird's eye view the operand of automobile image can significantly to reduce generation, gets a bird's eye view image and produce this ring car apace; For the reference of driver, be the effect of the utility model as the various situation of driving.

Claims (8)

1. a ring car is got a bird's eye view device, and in order to be arranged at a vehicle, its characteristic comprises:

Several image-finding elements are in order to capture several environmental images of this vehicle's surroundings;

An image processor; Being provided with a distortion proofreaies and correct module, signature and chooses module, one and set up module, plane projection conversion module and one with reference to image and get a bird's eye view the video compositing module; This distortion is proofreaied and correct module and is coupled this image-finding element; This signature is chosen module and is coupled that module is proofreaied and correct in this distortion, this sets up module and this plane projection conversion module with reference to image, and this is got a bird's eye view the video compositing module and couples this plane projection conversion module; And a telltale, what couple this image processor gets a bird's eye view the video compositing module;

This image processor is by the made digitized video treater of IC, field programmable gate array, silicon intellectual property or its combination in any.

2. a ring car is got a bird's eye view device, and in order to be arranged at a vehicle, its characteristic comprises:

Several image-finding elements are in order to capture several environmental images of this vehicle's surroundings;

An image processor; Being provided with a distortion proofreaies and correct module, signature and chooses module, one and set up module, plane projection conversion module and one with reference to image and get a bird's eye view the video compositing module; This distortion is proofreaied and correct module and is coupled this image-finding element; This signature is chosen module and is coupled that module is proofreaied and correct in this distortion, this sets up module and this plane projection conversion module with reference to image, and this is got a bird's eye view the video compositing module and couples this plane projection conversion module; And a telltale, what couple this image processor gets a bird's eye view the video compositing module;

This image processor is by the made digitized video transaction card of IC, field programmable gate array, silicon intellectual property or its combination in any.

3. a ring car is got a bird's eye view device, and in order to be arranged at a vehicle, its characteristic comprises:

Several image-finding elements are in order to capture several environmental images of this vehicle's surroundings;

An image processor; Being provided with a distortion proofreaies and correct module, signature and chooses module, one and set up module, plane projection conversion module and one with reference to image and get a bird's eye view the video compositing module; This distortion is proofreaied and correct module and is coupled this image-finding element; This signature is chosen module and is coupled that module is proofreaied and correct in this distortion, this sets up module and this plane projection conversion module with reference to image, and this is got a bird's eye view the video compositing module and couples this plane projection conversion module; And a telltale, what couple this image processor gets a bird's eye view the video compositing module;

This image processor is by the made specific function IC of IC, field programmable gate array, silicon intellectual property or its combination in any.

4. a ring car is got a bird's eye view device, and in order to be arranged at a vehicle, its characteristic comprises:

Several image-finding elements are in order to capture several environmental images of this vehicle's surroundings;

An image processor; Being provided with a distortion proofreaies and correct module, signature and chooses module, one and set up module, plane projection conversion module and one with reference to image and get a bird's eye view the video compositing module; This distortion is proofreaied and correct module and is coupled this image-finding element; This signature is chosen module and is coupled that module is proofreaied and correct in this distortion, this sets up module and this plane projection conversion module with reference to image, and this is got a bird's eye view the video compositing module and couples this plane projection conversion module; And a telltale, what couple this image processor gets a bird's eye view the video compositing module;

This image processor is by IC, field programmable gate array, silicon intellectual property or the made system level chip of its combination in any.

5. get a bird's eye view device like claim 1,2,3 or 4 described ring cars, it is characterized in that: this image-finding element be arranged at this vehicle forward and backward, a left side and right-hand to outside face.

6. get a bird's eye view device like claim 1,2,3 or 4 described ring cars, it is characterized in that: other comprises a housing, and this image processor is contained in the inside of this housing, and this telltale exposes the surface of this housing.

7. get a bird's eye view device like claim 1,2,3 or 4 described ring cars, it is characterized in that: this image processor and this telltale are integrated in the car running computer and the read out instrument of this vehicle interior.

8. get a bird's eye view device like claim 1,2,3 or 4 described ring cars, it is characterized in that: this image processor is with fixed type or detachable this image-finding element that couples.

Images