JP2007329611A - Vehicle perimeter monitoring apparatus, vehicle perimeter monitoring system, and vehicle perimeter monitoring method - Google Patents

Vehicle perimeter monitoring apparatus, vehicle perimeter monitoring system, and vehicle perimeter monitoring method Download PDF

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Publication number
JP2007329611A
JP2007329611A JP2006158040A JP2006158040A JP2007329611A JP 2007329611 A JP2007329611 A JP 2007329611A JP 2006158040 A JP2006158040 A JP 2006158040A JP 2006158040 A JP2006158040 A JP 2006158040A JP 2007329611 A JP2007329611 A JP 2007329611A
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image
viewpoint
means
vehicle
driver
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JP2006158040A
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Japanese (ja)
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Koji Kato
Tadashi Nakamura
正 中村
耕治 加藤
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Denso Corp
株式会社デンソー
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Priority to JP2006158040A priority Critical patent/JP2007329611A/en
Publication of JP2007329611A publication Critical patent/JP2007329611A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle perimeter monitoring apparatus, a vehicle perimeter monitoring system, and a vehicle perimeter monitoring method capable of displaying a dead area in a way that a driver can easily recognize the dead area in the case of photographing and displaying the dead area of the driver. <P>SOLUTION: An image processing apparatus 30 receives image data of an image around a vehicle perimeter photographed by a camera 10, applies Affine transform to the received image data so as to transform a viewpoint of a driver's seat (driver) of the vehicle into a viewpoint of viewing a monitor 40 provided in the interior of the vehicle, and displays the image subjected to the Affine transform on the monitor 40. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring device, a vehicle periphery monitoring system, and a vehicle periphery monitoring method for capturing an image of the periphery of a vehicle that is a blind spot for a driver and displaying the captured image in accordance with the viewpoint of a driver's seat (driver).

  Conventionally, as a method for causing a driver who has boarded a vehicle to recognize the blind spot of the driver, a method of photographing a place where the driver becomes a blind spot with a camera and displaying the photographed image on a monitor of a navigation device or the like is, for example, non-patent Documents 1 to 3 have proposed.

In this way, when shooting a place that becomes a blind spot of the driver with the camera, the position where the camera is mounted is limited due to the problem of the design of the vehicle. For this reason, using a wide-angle camera, it is possible to capture and display a wide range, or convert it to a bird's eye view and display it to make it easier to grasp the distance between an object located around the vehicle and the vehicle. Has been.
"NISSAN | NEWS PRESS RELEASE", [online], September 30, 2005, Nissan website, [Search April 13, 2006], Internet <URL: 1149639226359_0.html> "Nissan develops" Around View Monitor "to display 360 ° around car with in-vehicle camera-Automotive Technology-Tech-On!" [Online], February 23, 2005, Nikkei BP website, [2006 Search April 13], Internet <URL: 1149639226359_1> "Toyota.jp Estima", [online], Toyota website, [Search April 13, 2006], Internet <URL: 1149639226359_2.html>

  However, in the above-described conventional technique, the viewpoint of the driver and the viewpoint of the camera displayed on the monitor are greatly different. In this case, the same applies not only to the viewpoint of the driver but also to the angle of view and direction of the display video. For this reason, in order to recognize the positional relationship between the vehicle displayed on the monitor, the objects around the vehicle, and the self, the driver needs to organize the three-dimensional positional relationship in his / her head. The display is not easy to understand. For this reason, the time for the driver to watch the monitor increases and the burden on the driver increases, which is not preferable for safety.

  In view of the above points, the present invention provides a vehicle periphery monitoring device and a vehicle periphery monitoring system that can display a driver's blind spot so that the driver can easily recognize the blind spot when shooting and displaying the driver's blind spot. And a vehicle periphery monitoring method.

  In order to achieve the above object, according to the present invention, the image processing means (30) captures image data of an image around the vehicle taken by the photographing means (10) for photographing a blind spot from the driver seat of the vehicle (50). Based on the image data, the viewpoint is converted so that the image captured from the viewpoint of the imaging means is the image viewed from the viewpoint (70) of the driver's seat of the vehicle, and the viewpoint-converted image is converted to the driver's seat. The display means is displayed in accordance with the angle of view when the display means (40) is viewed from the viewpoint.

  In this manner, the image captured by the image capturing unit is converted to a viewpoint viewed from the viewpoint of the driver's seat, and the processed image is displayed on the display unit. As a result, the driver sitting in the driver's seat can see the blind spots around the vehicle through the display means without leaving the driver's seat. That is, the driver is displayed (skeleton) so that the blind spot in the direction in which the display means is viewed is transparent so that the driver can see through without changing the driver's viewpoint or angle of view. For this reason, the driver can easily grasp the positional relationship between the periphery of the vehicle and the driver's seat. Therefore, it is possible to reduce the time for the driver to watch the display means.

  In this case, the viewpoint transformation is performed by affine transformation which is a geometric transformation. Thereby, viewpoint correction of the image image | photographed with the imaging | photography means can be performed.

  Further, in the image processing means, when the image display signal is inputted from the signal input means (20) for outputting the image display signal indicating that the image is displayed on the display means, the viewpoint conversion of the image data is performed. it can.

  As a result, the signal input means can be, for example, switch means, and the driver can operate the switch means, whereby the display means can display a place that becomes a blind spot around the vehicle. Further, the signal input means may be a distance sensor, for example, and an image display signal may be output to the image processing means when the distance sensor detects an obstacle around the vehicle.

  The image processing means converts the viewpoint of the image data acquisition means (120) for acquiring image data of the image captured by the imaging means and the image data acquired by the image data acquisition means, and the viewpoint-converted image. Viewpoint conversion means (130) for extracting a portion corresponding to the angle of view, position, and size when viewing the display means from the viewpoint of the driver's seat, and displaying image data of the image acquired by the viewpoint conversion means An image display means (140) for displaying an image on the display means by inputting to the means may be provided.

  Moreover, it can be set as the structure provided with the 1st imaging | photography means (11) and the 2nd imaging | photography means (12) as an imaging | photography means, and an image processing means is a 1st image of the 1st image image | photographed with the 1st imaging | photography means. A first image data acquisition unit (220) for acquiring one image data; a second image data acquisition unit (230) for acquiring second image data of a second image captured by the second imaging unit; Each of the data and the second image data is subjected to viewpoint conversion, and the second image data converted from the viewpoint is pasted on the first image data converted from the viewpoint to generate one image. From the viewpoint of the driver's seat when viewing the display means, the viewpoint conversion means (240) for extracting the portion corresponding to the angle of view, position and size, and the image data acquired by the viewpoint conversion means as the display means By entering, the display And image display means for displaying an image on the stage (250) may be configured with a.

  By photographing with two or more photographing means in this way, the periphery of the vehicle can be photographed at a wider angle. As a result, in the image displayed on the display means, for example, a portion that coincides with an image that can be directly viewed through the windshield increases, so that the positional relationship in the driver's head can be recognized more smoothly. Can do.

  In the above, although the case where this invention was grasped | ascertained as a vehicle periphery monitoring apparatus was demonstrated, this invention can be comprised as a vehicle periphery monitoring system, and can be grasped | ascertained not only as an invention of a thing but as an invention of a method. .

  In addition, the code | symbol in the bracket | parenthesis of each said means shows the correspondence with the specific means as described in embodiment mentioned later.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following embodiments, the same or equivalent parts are denoted by the same reference numerals in the drawings.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. The vehicle periphery monitoring device shown in the present embodiment assists the driver in grasping obstacles around the vehicle by photographing and displaying the surroundings of the vehicle that is a blind spot of the driver boarding the vehicle. It is.

  FIG. 1 is a block diagram of a vehicle periphery monitoring device according to the first embodiment of the present invention. As shown in this figure, the vehicle periphery monitoring device S1 includes a camera 10, a signal input device 20, an image processing device 30, and a monitor 40.

  The camera 10 captures the surroundings of the vehicle and captures, for example, 15 images per second. Each captured image is recognized as a moving image by being continuously displayed. Data of an image photographed by the camera 10 is output to the image processing device 30. In addition, you may make it use the camera 10 already mounted in the vehicle. The camera 10 corresponds to the photographing means of the present invention.

  FIG. 2 is a diagram illustrating a state in which the camera 10 captures the front of the vehicle. 2A is a top view of the vehicle, and FIG. 2B is a side view of FIG. As shown in FIG. 2A, in this embodiment, the camera 10 is installed in the front part of the vehicle 50, and the photographing range 60 is 180 ° forward.

  Further, as shown in FIGS. 2A and 2B, when the left front of the vehicle 50 is viewed from the viewpoint 70 of the driver's seat (driver), the left of the front bumper of the vehicle 50 is viewed from the viewpoint 70 of the driver. The corner area is a blind spot and cannot be seen. Therefore, in the present embodiment, the camera 10 captures the vicinity of the left corner of the front bumper of the vehicle 50, the image data of the captured image is subjected to viewpoint conversion processing by the image processing device 30 described later, and the image subjected to viewpoint conversion processing is then displayed. An image is displayed on the monitor 40.

  The signal input device 20 is switch means for displaying an image photographed by the camera 10 on the monitor 40. That is, when the driver operates the signal input device 20, an image display signal indicating that an image is displayed on the monitor 40 is input from the signal input device 20 to the image processing device 30. The image is displayed on the monitor 40 via the image processing device 30. Such a signal input device 20 is provided in a steering, for example. The signal input device 20 corresponds to the signal input means of the present invention.

  The image processing device 30 has a function of performing image processing on image data of an image taken by the camera 10. Specifically, the image processing apparatus 30 performs affine transformation on the image input from the camera 10 as viewpoint conversion processing, and selects a portion that matches the viewpoint 70 and the angle of view of the driver from the affine transformed images. Affine transformation is a geometric transformation method that corrects viewpoints of figures and shapes.

  The affine transformation is a well-known geometric transformation method, and a detailed description thereof is omitted in this embodiment. The affine transformation is described in detail in, for example, “Image Processing Engineering” (Corona, Mechatronics Textbook Series 9, Ryoichi Suematsu, Hirohisa Yamada, p114).

  As the image processing apparatus 30 having such a function, for example, an ECU configured by a microcomputer having a memory, a CPU, or the like is employed. The image processing apparatus 30 has an image processing program that affine-transforms an image captured by the camera 10. This image processing program is stored in the memory and executed by the CPU. Further, the position of the driver's viewpoint 70 and the angle of view data when the monitor 40 is viewed from the driver's viewpoint 70 are stored in advance in the memory. The image processing apparatus 30 corresponds to the image processing means of the present invention.

  The monitor 40 displays the video converted by the image processing device 30, and for example, a liquid crystal panel provided in the instrument panel of the vehicle 50 is employed. As shown in FIGS. 2A and 2B, in the present embodiment, the monitor 40 is installed near the center of the instrument panel at the same position as the monitor of a general in-vehicle navigation system. The monitor 40 corresponds to display means of the present invention. The above is the overall configuration of the vehicle periphery monitoring device S1 according to the present embodiment.

  Next, image processing performed in the image processing apparatus 30 will be described with reference to FIG. FIG. 3 is a flowchart showing the contents of the image processing program. In the present embodiment, when power is supplied to the vehicle periphery monitoring device S1, the flow shown in FIG. 3 starts according to the image processing program.

  In step 110, it is determined whether an image display signal is input from the signal input device 20 to the image processing device 30. That is, it is monitored whether an image display signal is input from the signal input device 20 when the signal input device 20 is operated by the driver.

  If it is determined in this step that an image display signal has been input to the image processing apparatus 30, the process proceeds to step 120. On the other hand, when it is determined in this step that no image display signal is input to the image processing apparatus 30, the input of the image display signal is repeatedly monitored in this step.

  In step 120 (image data acquisition means), a camera image is acquired. That is, image data of an image captured by the camera 10 is input to the image processing device 30.

  In step 130 (viewpoint conversion means), image processing is performed. Specifically, the image data acquired in step 120 is subjected to affine transformation, so that the image captured from the viewpoint of the camera 10 is corrected to the image viewed from the viewpoint 70 of the driver to the monitor 40 side.

  Further, as shown in FIGS. 2A and 2B, when the driver views the monitor 40 from the viewpoint 70 of the driver, the monitor 40 is located near the left corner of the front bumper of the vehicle 50 that is a blind spot for the driver. For display, a corresponding portion is extracted from an image affine-transformed in accordance with the angle of view, position, and size when the monitor 40 is viewed from the viewpoint 70 of the driver.

  In step 140 (image display means), image display is performed. That is, the image data after the affine transformation obtained in step 130 is input to the monitor 40, and an image is displayed on the monitor 40. Accordingly, as shown in FIG. 2B, the driver can recognize that the vicinity of the left corner of the front bumper of the vehicle 50 that becomes a blind spot is displayed so that the vehicle 50 can be seen through (skeleton). .

  Thereafter, returning to step 110, as long as the image display signal is continuously input from the signal input device 20 to the image processing device 30, the above steps 110 to 140 are repeatedly executed.

  As described above, the present embodiment is characterized in that image data of an image taken by the camera 10 is affine transformed so as to match the viewpoint 70 of the driver's seat (driver), and the affine transformed image is displayed on the monitor 40. It is said. That is, the image captured by the camera 10 is affine transformed so as to be viewed from the driver's viewpoint 70, and a portion matching the driver's viewpoint 70 and the angle of view is extracted from the affine-transformed image and displayed.

  Thereby, the place where the driver becomes a blind spot in the direction of looking at the monitor 40 can be displayed (skeleton) so that the vehicle 50 can be seen through the monitor 40 without changing the viewpoint 70 and the angle of view of the driver. For this reason, the driver sitting in the driver's seat can easily grasp the positional relationship between the surroundings of the vehicle 50 and the driver's seat. Therefore, the time for the driver to watch the monitor 40 can be reduced.

  In the present embodiment, as described above, an image corresponding to the viewpoint 70 of the driver can be obtained by performing affine transformation on the obtained image. That is, it is not always necessary to install the camera 10 in a portion that becomes a blind spot of the driver, and the image processing can be performed using the camera 10 already mounted on the vehicle 50.

(Second Embodiment)
In the present embodiment, only parts different from the first embodiment will be described. In the first embodiment, the front of the vehicle 50 is photographed by the single camera 10 installed at the front portion of the vehicle 50. In the present embodiment, each image photographed by the two cameras is captured. It is characterized by affine transformation and display on the monitor 40.

  FIG. 4 is a block diagram of a vehicle periphery monitoring device according to the second embodiment of the present invention. As shown in this figure, the vehicle periphery monitoring device S2 is configured to capture the surroundings of the vehicle 50 with respect to the configuration according to the first embodiment (signal input device 20, image processing device 30, monitor 40). The first camera 11 and the second camera 12 are provided.

  FIG. 5 is a schematic diagram in which the first camera 11 and the second camera 12 are installed in the vehicle 50. The first camera 11 captures a range including a place where it becomes a blind spot from the driver (driver's seat). That is, as shown in FIG. 5, the first camera 11 is installed in the vehicle interior (for example, in the vicinity of the room mirror) in such a direction as to capture the left corner direction of the front bumper of the vehicle 50 from the viewpoint 70 of the driver. However, the first camera 11 cannot capture the blind spot. In addition, the second camera 12 captures a blind spot from the driver (driver's seat). That is, as shown in FIG. 5, as in the case of the first camera 11, the second camera 12 is installed in the left headlight 51 in a direction for photographing the left corner direction of the front bumper of the vehicle 50. .

  Further, in the present embodiment, as shown in FIG. 5, an obstacle 80 exists near the left corner of the front bumper of the vehicle 50.

  Next, image processing performed in the image processing apparatus 30 according to the present embodiment will be described with reference to FIG. FIG. 6 is a flowchart showing the contents of the image processing program according to the second embodiment. In the present embodiment, when power is supplied to the vehicle periphery monitoring device S2, the flow shown in FIG. 6 starts according to the image processing program.

  First, in step 210, processing similar to that in step 110 shown in FIG. 3 is performed. In step 220 (first image data acquisition means), a first camera image is acquired. That is, image data of an image photographed by the first camera 11 is input to the image processing device 30. FIG. 7 is a view showing an example of photographing the left corner direction of the front bumper of the vehicle 50 with the first camera 11. As shown in this figure, the obstacle 80 shown in FIG. 5 is not taken in the image taken by the first camera 11. In FIG. 7, the portion of the vehicle 50 is hatched.

  In step 230 (second image data acquisition means), a second camera image is acquired. That is, image data of an image captured by the second camera 12 is input to the image processing device 30. FIG. 8 is a diagram illustrating an example in which the second camera 12 images the left corner direction of the front bumper of the vehicle 50. As shown in this figure, the obstacle 80 shown in FIG. 5 is photographed in the image photographed by the second camera 12. In FIG. 8, the portion of the vehicle 50 is indicated by hatching.

  In step 240 (viewpoint conversion means), image processing is performed. Specifically, as in step 130, the image data of each image acquired in steps 220 and 230 is subjected to affine transformation, whereby the viewpoint correction of the image is performed. That is, each image captured at each viewpoint of the first camera 11 or the second camera 12 is corrected to an image viewed from the driver's viewpoint 70 to the monitor 40 side. Thereafter, the affine transformed images are combined.

  FIG. 9 is a diagram in which the affine transformed images are combined. As shown in this figure, after the images shown in FIGS. 7 and 8 are affine transformed, the image shown in FIG. 8 is affine transformed, and the image shown in FIG. 7 is affine transformed. Synthesized into things. In FIG. 9, a region where the image shown in FIG. 7 affine transformed is pasted is indicated by a dotted line, and a portion of the vehicle 50 is indicated by hatching.

  In addition, by predetermining the arrangement coordinates of the image corresponding to FIG. 8 in FIG. 9, an image obtained by affine transformation of the image shown in FIG. In addition, the image shown in FIG. 9 can be obtained.

  9 corresponding to the image shown in FIG. 9 affine-transformed according to the angle of view, position, and size when the monitor 40 is viewed from the viewpoint 70 of the driver. Extracted.

  In step 250 (image display means), as in step 140, image display is performed. Thereafter, returning to step 210, as long as the image display signal continues to be input from the signal input device 20 to the image processing device 30, the above steps 210 to 250 are repeatedly executed.

  As described above, in this embodiment, the periphery of the vehicle 50 can be captured at a wider angle by capturing the periphery of the vehicle 50 with the plurality of cameras 11 and 12. As a result, since the portion of the image displayed on the monitor 40 matches the scene that the driver can directly view through the windshield, the positional relationship in the driver's head can be recognized more smoothly. be able to.

(Other embodiments)
In each of the above embodiments, the case where the obstacle 80 positioned near the left corner of the front bumper of the vehicle 50 is displayed in a skeleton manner on the monitor 40 has been described. For example, the vehicle 50 is displayed on a monitor (liquid crystal panel or the like) provided in a meter. An image near the right corner of the front bumper may be displayed.

  Further, the camera 10 is attached to the rear part of the vehicle 50 to photograph the vicinity of the rear bumper at the rear part of the vehicle, and the photographed image is affine transformed, and the affine transformed image is displayed on a room mirror that also functions as a monitor. Also good.

  Thus, when displaying the situation behind the vehicle 50 on the rearview mirror, a shift lever is employed as the signal input device 20. For example, when the shift lever is R (reverse), an image display signal may be output from the signal input device 20 to the image processing device 30.

  In each of the above-described embodiments, for example, switch means provided in the steering is adopted as the signal input device 20, but as the signal input device 20, for example, a distance sensor for detecting an obstacle 80 located around the vehicle 50 ( Ultrasonic sensors, electromagnetic wave sensors, infrared sensors, etc.) can also be employed.

  When a distance sensor is used as the signal input device 20 in this way, an image display signal is output to the image processing device 30 when an obstacle is detected around the vehicle 50 by the distance sensor. As a result, when there is an obstacle close to the vehicle 50, it is possible to display an image and inform the driver what the obstacle is.

  Further, when an image is displayed using the distance sensor as described above, an alarm (warning sound) may be sounded from a speaker (not shown) by the image processing device 30. As a result, the driver can be alerted.

  In each of the above embodiments, an image processed image is displayed on the entire surface of the monitor 40. However, when displaying an image on a monitor for a navigation device or a multi-information monitor, the entire screen is not switched, but a multi-screen is displayed. Display superimpose. As a result, it is possible to prevent the driver and other occupants from viewing.

  The steps shown in each figure correspond to means for executing various processes.

It is a block block diagram of the vehicle periphery monitoring apparatus which concerns on 1st Embodiment of this invention. It is the figure which showed a mode that the front of a vehicle was image | photographed with a camera, (a) is a top view of a vehicle, (b) is a side view of (a). It is a flowchart which shows the content of an image processing program. It is a block block diagram of the vehicle periphery monitoring apparatus which concerns on 2nd Embodiment of this invention. In 2nd Embodiment, it is the schematic diagram which installed the 1st camera and the 2nd camera in the vehicle. It is a flowchart which shows the content of the image processing program which concerns on 2nd Embodiment. It is the figure which showed an example which image | photographed the left corner direction of the front bumper of a vehicle with the 1st camera. It is the figure which showed an example which image | photographed the left corner direction of the front bumper of a vehicle with the 2nd camera. It is the figure which combined each image by which affine transformation was carried out in 2nd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Camera as imaging | photography means, 11 ... 1st camera as 1st imaging | photography means, 12 ... 2nd camera as 2nd imaging | photography means, 20 ... Signal input device, 30 ... Image processing apparatus, 40 ... Monitor, 50 ... Vehicle 70: Driver's seat (driver) viewpoint, 120 ... Image data acquisition means, 130, 240 ... Viewpoint conversion means, 140, 250 ... Image display means, 220 ... First image data acquisition means, 230 ... Second image data Acquisition means.

Claims (7)

  1. The image data of the image around the vehicle, which is mounted on the vehicle (50) and photographed by the photographing means (10) for photographing a blind spot from the driver's seat of the vehicle, is input, and based on the image data of the image Then, after the viewpoint is converted so that the image taken from the viewpoint of the photographing means becomes an image seen from the viewpoint (70) of the driver's seat of the vehicle, the viewpoint-converted image is displayed from the viewpoint of the driver's seat. (40) A vehicle periphery monitoring device comprising image processing means (30) for displaying on the display means in accordance with an angle of view when viewed.
  2. The vehicle periphery monitoring apparatus according to claim 1, wherein the viewpoint conversion is performed by affine transformation.
  3. When the image processing means inputs the image display signal from the signal input means (20) for outputting an image display signal indicating that the display means displays an image, the image processing means inputs the image data from the imaging means. The vehicle periphery monitoring device according to claim 1, wherein the viewpoint of the image data is converted.
  4. The image processing means includes
    Image data obtaining means (120) for obtaining image data of the image photographed by the photographing means;
    The image data acquired by the image data acquisition means is subjected to viewpoint conversion, and corresponds to the angle of view, position, and size when the display means is viewed from the viewpoint of the driver seat from the viewpoint-converted image. Viewpoint conversion means (130) for extracting a portion;
    An image display means (140) for displaying an image on the display means by inputting image data of the image acquired by the viewpoint conversion means to the display means. The vehicle periphery monitoring device according to any one of 1 to 3.
  5. The photographing means includes first photographing means (11) for photographing a range including a place where a blind spot is formed from the driver's seat, and second photographing means (12) for photographing a place where the blind spot is provided from the driver's seat. The area around the vehicle is photographed by the first photographing means and the second photographing means,
    The image processing means includes
    First image data obtaining means (220) for obtaining first image data of a first image photographed by the first photographing means;
    Second image data obtaining means (230) for obtaining second image data of a second image photographed by the second photographing means;
    The first image data and the second image data are subjected to viewpoint conversion, and the second image data subjected to viewpoint conversion is pasted on the first image data subjected to viewpoint conversion to generate one image. A viewpoint conversion unit (240) for extracting a portion corresponding to an angle of view, a position, and a size when the display unit is viewed from the viewpoint of the driver seat from the generated image;
    The image display means (250) for displaying an image on the display means by inputting image data of the image acquired by the viewpoint conversion means to the display means. The vehicle periphery monitoring device according to any one of 1 to 3.
  6. A photographing means (10) mounted on the vehicle (50) and photographing a place that is a blind spot from the driver's seat of the vehicle;
    The image data of the image around the vehicle photographed by the photographing means is input, and based on the image data of the image, the image photographed from the viewpoint of the photographing means is viewed from the viewpoint (70) of the driver's seat of the vehicle. Image processing means (30) for converting the viewpoint so as to obtain an image,
    A vehicle periphery monitoring system comprising: display means (40) for displaying an image whose viewpoint has been converted by the image processing means in accordance with an angle of view when viewed from the viewpoint of the driver seat.
  7. The image processing means (30) inputs image data of an image around the vehicle that is mounted on the vehicle (50) and photographed by a photographing means (10) that photographs a blind spot from the driver's seat of the vehicle. Based on the image data of the image, the viewpoint of the image captured from the viewpoint of the imaging unit is converted to the image viewed from the viewpoint (70) of the driver's seat of the vehicle, and the image converted from the viewpoint is then converted to the driving A vehicle periphery monitoring method, comprising: displaying on the display unit in accordance with an angle of view when the display unit (40) is viewed from the viewpoint of a seat.
JP2006158040A 2006-06-07 2006-06-07 Vehicle perimeter monitoring apparatus, vehicle perimeter monitoring system, and vehicle perimeter monitoring method Pending JP2007329611A (en)

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