JP2009147627A - In-vehicle image processing apparatus and in-vehicle image display device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an in-vehicle image processing apparatus capable of emphasizing an important body in an image in a reduced image and obtaining a less-distorted reduced image, and an in-vehicle image display device that displays the image. <P>SOLUTION: The in-vehicle image processing apparatus acquires images of rear parts of both sides of this vehicle from side rear cameras (S100), acquires the position, direction and speed of the other vehicle from a millimeter wave radar (S105), and acquires the speed of this vehicle from a vehicle speed sensor (S110). When it is determined from the acquired speed of the other vehicle and the speed of this vehicle that the other vehicle is approaching this vehicle and the absolute speed of the other vehicle is equal to or larger than a predetermined value, image energy of the part of the other vehicle is set higher than image energy of a part other than the other vehicle (S115). Then Seam obtained connecting parts where image energy in the image is equal to or smaller than a predetermined value is calculated, and the Seam is deleted to generate the reduced image (S120). Then the obtained reduced image is displayed on a display device (S125). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an in-vehicle image processing apparatus and an in-vehicle image display apparatus for reducing and displaying an image while maintaining visibility of important parts around a vehicle.

  Conventionally, when driving a vehicle, an on-board camera is used to acquire an image of the rear side of the vehicle, highlight an object with a relative speed detected by optical flow, etc., and generate an image that is easier for the driver to understand There is a technology that aims to improve safety (see, for example, Patent Document 1).

  On the other hand, there is also a technique for reducing the image while leaving the important part by analyzing the importance of the image and cutting and pasting the part having the high importance (see, for example, Patent Document 2). Furthermore, to improve this, first calculate the image energy image showing the importance, and calculate the line that cuts through the image energy image through the less important part called Seam, and delete that part Have been proposed (see, for example, Non-Patent Document 1).

With these reduced image generation techniques, the surrounding situation can be efficiently displayed on a small monitor. When this is applied to an in-vehicle camera, for example, in the side rear camera, the overtaking vehicle is more emphasized and it is easy to understand whether or not the lane can be changed at a glance.
JP2003-274393 US2007 / 0025637 “Seam Carving for Content-Aware Image Resizing”, S. Avidan (Mitsubishi Electric Research Labs), SIGGRAPH'07

  However, the method described in Non-Patent Document 1 has a problem that an important object is not sufficiently emphasized or a reduced image is distorted depending on a method of calculating an image energy image. For example, as a general method, when an edge image is used as an image energy image, roadside structures often have strong edges, which are not so important for determining whether or not to change lanes. Get higher. Therefore, the importance of the truly important surrounding vehicles becomes relatively low, and the vehicles are not sufficiently emphasized. In addition, a so-called “smooth-shaped” vehicle having less unevenness of the vehicle also has a relatively low image energy, and the shape of the vehicle is distorted.

  Furthermore, even when the entire image is too complicated, such as when there are a large number of vehicles or when there is a pattern on the road surface, the deletion process is performed even though there is no portion suitable for deletion, so that the vehicle is distorted.

  The present invention has been made in view of such a problem, and displays an in-vehicle image processing apparatus capable of enhancing an important object in an image in a reduced image and obtaining a reduced image with less distortion, and the image. An object is to provide an in-vehicle image display device.

  The in-vehicle image processing apparatus according to claim 1, which has been made to solve such a problem (5: In this section, in order to facilitate understanding of the invention, the “best mode for carrying out the invention is described as necessary. The reference numeral used in the “form” column is attached but does not mean that the scope of claims is limited by the reference numeral). The image acquisition means (10), the speed detection means (20), the image energy calculation means ( 30) and image reduction means (30).

  The image acquisition means (10) is for acquiring an image around the host vehicle, and the speed detection means (20) extracts an object in the image and detects the speed of the extracted object. The image energy calculating means (30) calculates the image energy in the image acquired by the image acquiring means (10).

  The image reduction means (30) reduces the image by extracting and deleting a region having an image energy lower than a predetermined value in the image calculated by the image energy calculation means (30). Further, the image energy calculating means (30) changes the image energy of the image area occupied by the object according to the speed of the object detected by the speed detecting means (20).

  The on-vehicle image processing apparatus (5) as described above is an image processing apparatus that can emphasize important objects in an image in a reduced image and obtain a reduced image with less distortion while the vehicle is traveling. . This will be described below.

  First, “image energy in an image” will be described. This is an index indicating where an important part in an image is. An object that is calculated for each position in the image and creates an energy distribution of the entire image is called an energy image.

  Various methods can be considered for this calculation method, that is, a method for defining energy. For example, an edge image, that is, a line density, can be considered as a place where a color change is large. For example, in places that are not important, such as clear sky, line density and screen color change can hardly be made. On the other hand, in places that are considered important in images of urban roads, lanes and other paint are applied to the road surface, there are many vehicles on the road, and buildings are lined up on the side of the road. In addition, because there are advertising billboards lined up on the side of the road and buildings, the line density and color change are large.

  As described above, when the edge extraction processing is set to the image energy in the image, the portion with a strong edge becomes “high image energy in the image”, while the important thing without a pattern, for example, a vehicle with a soft design. Will be considered unimportant. For this reason, the vehicle is deleted, or the part inside the vehicle is deleted and the appearance of the vehicle is distorted. Therefore, this image energy calculation method is very important.

  According to the “image energy in the image” defined as described above, in the in-vehicle image processing device (5) according to claim 1, the image energy calculation means (30) calculates the image energy in the image and calculates A portion where the image energy is lower than a predetermined value is deleted to reduce the image.

  At that time, the speed detection means (20) detects the speed of the object in the image, and changes the image energy of the image area occupied by the object according to the detected speed of the object. Therefore, for objects having speed in the image, such as other vehicles, bicycles, or people, the image energy of the part is increased so as not to be deleted from the image or emphasized in the reduced image. be able to.

That is, according to the vehicular image device (5) of the first aspect, it is possible to emphasize important objects in the image in the reduced image and obtain a reduced image with less distortion.
Here, objects having speed in the image, such as other vehicles, bicycles or people, should be recognized as dangerous when the driver drives the own vehicle. If they remain in the image without being deleted or are emphasized in the reduced image, the driver can easily recognize them from the image, so that safety during driving can be improved.

  By the way, unlike the reduction of a still image, in the in-vehicle image processing device (5), if there is a danger such as a collision with the own vehicle, the image may be reduced in an emphasized state in the reduced image. is important.

  Therefore, as described in claim 2, the speed detection means (20) is configured to be able to detect the relative speed of the object in the image with respect to the host vehicle, and the image energy calculation means (30) is the speed detection means (20). It is determined whether or not the object and the host vehicle are approaching from the relative speed of the object in the image detected in step 1 to the host vehicle, and if it is determined that the object and the host vehicle are approaching, the object occupies The image energy of the image area may be set higher than the image energy of the area other than the image area occupied by the object.

  In this way, since the image energy of the image area occupied by the object approaching the host vehicle is set high, the approaching object is not reduced even if the other part is reduced. That is, an object approaching the host vehicle is displayed with being emphasized in the reduced image. In other words, an object that has a risk of colliding with the host vehicle is emphasized in the reduced image, so that safety during driving can be improved.

  Even if the relative speed between the object and the host vehicle is not large, if the absolute speed of the object is high, the object is likely to be dangerous for the host vehicle. For example, this is a case where the object is another vehicle and the other vehicle and the host vehicle are running at high speed.

  Therefore, as described in claim 3, the speed detection means (20, 40) is configured to be able to detect the absolute speed of the object in the image, and the image energy calculation means (30) is configured to detect the speed detection means (20, 40). When the absolute velocity of the object in the image detected in (1) is larger than a predetermined value, the image energy of the image area occupied by the object may be set higher than the image energy of the area other than the image area occupied by the object. .

  In this case, when the absolute speed of the object in the image detected by the speed detection means (20, 40) is larger than a predetermined value, the image energy of the image area occupied by the object is set high. Even if this portion is reduced, an object having a large absolute velocity is not reduced.

  That is, an object having a high absolute speed is displayed with being emphasized in the reduced image. In other words, since an object that may cause danger to the host vehicle is emphasized in the reduced image, safety during driving can be improved.

  By the way, although various things can be considered for a speed detection means (20), as described in claim 4, the speed detection means (20) may be an in-vehicle radar (20). In other words, the radar can measure the distance and direction of the object, and can measure the relative speed of the object with respect to the host vehicle from the rate of change of the distance and direction of the object or the Doppler shift. Therefore, the image energy at the location of the image corresponding to the azimuth of the object can be changed according to the relative speed.

In addition, as described in claim 5, the speed detection means (20) may detect the speed of the object by performing image processing on the image acquired by the image acquisition means (10).
In this case, for example, a stereo camera or a single eye is used as the image acquisition means (10), and image processing is performed from the image acquired by the camera, such as moving stereo vision, optical flow, image enlargement ratio calculation, object tracking, and the like. The object can be extracted by the above, and the speed of the object can be detected from the rate of change of the position of the extracted object.

  An image display device (1) according to claim 6 includes an in-vehicle display means (50), an in-vehicle image processing device (5) according to any one of claims 1 to 5, and an in-vehicle image. A display control means (30) for displaying an image reduced by the processing device (5) on the display means (50) is provided.

  According to such an in-vehicle image display device (1), the in-vehicle image display device capable of displaying a reduced image having the characteristics of the in-vehicle image processing device according to any one of claims 1 to 5. (1).

  By the way, when the display means (50) is mounted on the host vehicle, various methods are conceivable for the mounting position and the display direction. For example, the display screen of the car navigation device mounted in the front part of the passenger compartment may be used as the display means (50) to display the inside of the vehicle. The driver may be attached to the rear-viewing mirror portion of the host vehicle so that the driver can visually recognize the display screen.

  In this way, the driver can visually confirm the object highlighted in the reduced image by the same operation as the own vehicle rear confirmation operation via the rear confirmation mirror. As a result, safety during driving can be improved.

Embodiments to which the present invention is applied will be described below with reference to the drawings. The embodiment of the present invention is not limited to the following embodiment, and can take various forms as long as they belong to the technical scope of the present invention.
[First Embodiment]
FIG. 1 is a block diagram showing a schematic configuration of an in-vehicle image display device 1 to which the present invention is applied. The vehicle-mounted image display device 1 includes a vehicle-mounted image processing device 5 and a display device 50 as shown in FIG.

The in-vehicle image processing device 5 includes a side rear camera 10, a millimeter wave radar 20, a vehicle speed sensor 40, and an image processing unit 30.
The side rear camera 10 is a small wide-angle CCD camera that can acquire a visible light image for acquiring an image of the surroundings of the host vehicle (not shown), and can be used as a rear-view mirror of the host vehicle so that an image of the rear side of the vehicle can be acquired. It is attached.

  The millimeter wave radar 20 is for detecting the relative speed of an object in the image (in the present embodiment, another vehicle), and is attached to the host vehicle so that millimeter wave radio waves can be transmitted to the rear side of the host vehicle. Yes. The millimeter wave radar 20 transmits a millimeter wave radio wave, receives a reflected wave of the transmitted radio wave, and receives the reflected wave reception intensity, reception azimuth, and the distance from the Doppler shift of the reflected wave to the other vehicle behind the vehicle side. And detect azimuth and relative speed.

  The vehicle speed sensor 40 detects the speed of the host vehicle, and may detect the speed from the number of rotations of the axle, or detects the current position of the host vehicle with a GPS onboard device, and based on the amount of change. It may be one that detects speed.

The image processing unit 30 includes a CPU, a ROM, a RAM, an I / O, and the like (not shown), and executes the following processes (a) to (e).
(A) The image energy in the image acquired by the side rear camera 10 is calculated.

  (A) It is determined whether the other vehicle is approaching from the relative speed of the other vehicle in the image detected by the millimeter wave radar 20 with respect to the own vehicle. And when it determines with the other vehicle and the own vehicle approaching, the image energy of the image area which an other vehicle occupies is set higher than the image energy of areas other than the image area which an other vehicle occupies.

(C) The absolute speed of the other vehicle is calculated from the relative speed of the other vehicle in the image detected by the millimeter wave radar 20 and the speed of the own vehicle detected by the vehicle speed sensor 40.
(D) When the absolute speed of the other vehicle is larger than a predetermined value, the image energy of the image area occupied by the other vehicle is set higher than the image energy of the image area occupied by the other vehicle.

(E) The image is reduced by extracting and deleting a region where the image energy obtained by the processes (a) to (d) is lower than a predetermined value.
(F) The image reduced by the process (e) is displayed on the display device 50.

  The display device 50 displays an image reduced by the in-vehicle image processing device 5 and includes a liquid crystal display and an organic EL display. The display device 50 is attached so that the driver can visually recognize the display screen instead of the mirror at the rearview mirror portion of the host vehicle.

(Processing in the image processing unit 30)
Next, processing executed by the image processing unit 30 will be described with reference to FIGS. FIG. 2 is a flowchart showing the flow of the main routine of image processing executed by the image processing unit 30, FIG. 3 is a flowchart of image energy image generation processing which is a subroutine, and FIG. 4 is a subroutine. It is a flowchart of a certain low image energy location deletion process.

  In the image processing, as shown in FIG. 2, an image of the rear side of the own vehicle is acquired from the side rear camera 10 in S100, and the position, direction, and relative speed with respect to the own vehicle of the other vehicle are obtained from the millimeter wave radar 20 in the subsequent S105. Acquired, and in S110, the speed of the host vehicle is acquired from the vehicle speed sensor 40.

In subsequent S115, an image energy image of the image acquired in S100 is generated. Details of the image energy image generation processing will be described later.
In subsequent S120, the low image energy location is deleted from the image energy image generated in S115, and a reduced image is obtained. The low image energy location deletion process will be described later.

In S125, the reduced image obtained in S120 is displayed on the display device 50, the process is returned to S100, and the image processing is repeated.
(Image energy image generation processing)
Next, the image energy image generation process will be described with reference to FIG. In the image energy image generation process, a base image energy pattern image is generated in S200. For example, a basic image (base image energy pattern image) serving as a base of the energy image, such as an image having a uniform constant value in all regions or a constant pattern such as a lattice pattern, is generated.

  In S205, an edge image is created for the base image energy pattern image generated in S200. That is, corners and edge portions in the image are extracted to generate an image (edge image). An example of the original image is shown in FIG. 5A and an example of the edge image is shown in FIG.

  In S210, the edge image generated in S205 is added to the base image energy pattern image generated in S200. That is, the edge image is superimposed on the base image energy pattern image.

  In S215, it is determined whether or not the other vehicle is approaching the host vehicle from the relative speed of the other vehicle with respect to the host vehicle obtained from the millimeter wave radar 20 in S105 (see FIG. 2). And when it determines with the own vehicle approaching another vehicle (S215: Yes), a process transfers to S235, and when it determines with the own vehicle not approaching another vehicle (S215: No) The process proceeds to S220.

  In S220, the speed of the host vehicle acquired from the vehicle speed sensor 40 in S110 (see FIG. 2) is added to the relative speed of the other vehicle with respect to the host vehicle acquired from the millimeter wave radar 20 in S105 (see FIG. 2). The absolute speed of the other vehicle is calculated.

  In S225, it is determined whether or not the absolute speed of the other vehicle calculated in S220 is equal to or greater than a predetermined value. If it is determined that the value is equal to or greater than the predetermined value (S225: Yes), the process proceeds to S235. If it is determined that the value is not equal to or greater than the predetermined value (S225: No), the process proceeds to S230.

  In S230, the image energy of the other vehicle portion is set low, and the process proceeds to S240. In S235, the image energy of the other vehicle portion is set high, and the process proceeds to S240.

In S240, the image energy set for the other vehicle portion in S230 or S235 is added to the image energy image obtained in S210, and the process is terminated.
(Low image energy location deletion processing)
Next, the low image energy location deletion process will be described with reference to FIG. In the low image energy location deletion process, a line to be reduced (hereinafter, this line is referred to as “Seam”) is first obtained with respect to the image energy image obtained by the image energy image generation process of S115 (see FIG. 2). The number is calculated.

  Specifically, the ratio of the vertical and horizontal lengths of the image size acquired in S100 (see FIG. 2) and the length of the reduced image and the width of the Seam that is deleted from the screen when one Seam is deleted from the screen are deleted. The number of power seams is calculated.

  In subsequent S305, Seam is calculated. Seam is a line that can pass with the minimum energy from the upper end to the lower end of the image, and is obtained by solving the shortest path problem. Specifically, the calculation of Seam secures a memory space (hereinafter referred to as a path image) for storing a path total value having the same size as the image energy image obtained in S240 (see FIG. 3), and 2 of the upper side of the original image. From the line to the bottom line, calculate for all pixels as follows:

  For one pixel in an image, the sum of the smallest value of the path image energy values of the top three pixels and the energy value of the original pixel position of the original image is stored in the path image. As a result, the shortest path value from the upper end of the image to the pixel is stored in the path image, and the smallest thing among the values on the lowest side of the path image is the total energy value of the Seam to be obtained, and the path image is reversed from that point By going back toward the upper end, the shape of the Seam is obtained. An example of Seam is shown in FIG. In FIG. 6A, many lines drawn from the upper side to the lower side of the image are Seam.

  In S310, it is determined from the image energy value of the seam calculated in step S305 whether or not the total value of the deleted image energy of the seam is equal to or greater than a predetermined value. Then, when the total value of the deleted image energy of the Seam is equal to or larger than a predetermined value (S310: Yes), the process is terminated. When the total value of the deleted image energy of the Seam is smaller than a predetermined value (S310: No), the process proceeds to S315.

  In S315, the Seam portion calculated in S305 is deleted from the image energy image, and in subsequent S320, it is determined whether or not the total number of Seams deleted in S315 is less than or equal to the number of Seams to be deleted calculated in S300. The

  If the total number of deleted Seams is equal to or less than the number of Seams to be deleted (S320: Yes), the process proceeds to S305 and the process is repeated. Further, when the total number of deleted seams is larger than the number of seams to be deleted (S320: No), the process is terminated. An example of an image that has been subjected to the low image energy location deletion process is shown in FIG.

(Characteristics of in-vehicle image display device 1)
In the vehicle-mounted image display device 1 as described above, the image energy in the image behind the host vehicle acquired by the side rear camera 10 is calculated, and the portion where the calculated image energy is lower than a predetermined value is deleted. Is reduced.

  At this time, the millimeter wave radar 20 detects the speed of the other vehicle in the image, and changes the image energy of the image area occupied by the other vehicle in accordance with the detected speed of the other vehicle. That is, it is determined whether or not the other vehicle is approaching from the relative speed of the other vehicle with respect to the own vehicle.

  And when it determines with the other vehicle and the own vehicle approaching, the image energy of the image area which an other vehicle occupies is set higher than the image energy of the image area which an other vehicle occupies, and the other vehicle and the own vehicle Are determined to be separated from each other, the image energy of the image area occupied by the other vehicle is set lower than the image energy of the image area occupied by the other vehicle.

  Therefore, since the image energy of the image area occupied by the other vehicle approaching the host vehicle is set high, even if the other portion is reduced, the approaching other vehicle is not reduced. That is, the other vehicle approaching the host vehicle is displayed with being emphasized in the reduced image. In other words, other vehicles that are likely to collide with the host vehicle are emphasized in the reduced image, so that safety during driving can be improved.

  In addition, for a bicycle or a person instead of another vehicle, the image energy of that portion can be increased so that it is not deleted from the image, or it can be emphasized in the reduced image.

  By the way, even if the relative speed between the other vehicle and the host vehicle is not large, if the speed of the other vehicle is high, the other vehicle is likely to be dangerous to the host vehicle. However, the in-vehicle image display device 1 calculates the absolute speed of the other vehicle from the speed of the other vehicle in the image detected by the millimeter wave radar 20 and the speed of the own vehicle detected by the vehicle speed sensor 40, and the absolute speed of the other vehicle is predetermined. Is larger than the image energy of the image area other than that occupied by the other vehicle.

  In this way, when the calculated absolute speed is larger than a predetermined value, the image energy of the image area occupied by the other vehicle is set high. Therefore, even if other portions are reduced, other vehicles having a high absolute speed are not reduced.

  That is, the other vehicle having a high absolute speed is displayed highlighted in the reduced image. In other words, since other vehicles that may cause danger to the host vehicle are emphasized in the reduced image, safety during driving can be improved.

Further, the display device 50 is attached so that the driver can visually recognize the display screen instead of the rear viewing mirror of the host vehicle. Therefore, the driver can visually recognize the other vehicle highlighted in the reduced image by the same operation as the own vehicle rear confirmation operation via the rear confirmation mirror, so that it is easy to confirm the presence of the other vehicle. As a result, safety during driving can be improved.
[Other Embodiments]
As mentioned above, although embodiment of this invention was described, this invention is not limited to this embodiment, A various aspect can be taken.

  (1) In the above embodiment, the relative speed of the other vehicle is detected using the millimeter wave radar 20, but instead of the millimeter wave radar 20, a known image processing method is used from an image acquired by the side rear camera 10. The position of the other vehicle may be extracted, and the relative speed of the other vehicle may be detected from the extracted rate of change of the position of the other vehicle.

In this way, since the speed of the other vehicle can be detected without using the millimeter wave radar 20, the vehicle-mounted image display device 1 can be simply configured.
(2) In the above embodiment, the display device 50 is mounted on the rearview mirror portion of the host vehicle so that the driver can visually recognize the display screen. However, the display device 50 is mounted on the front part of the passenger compartment of the host vehicle. Display may be performed on the inside of the vehicle using the display screen of the car navigation device.
(3) In the above embodiment, an edge image is generated to generate an image energy image (see S205 in FIG. 3). However, instead of using an edge, another function is used in accordance with the specification of the reduction target image. It may be used. Specifically, a function such as an edge square function, a saliency function, a Harris corner function, a gaze recognition result function, a face recognition result function, an entropy function, a segmentation function, or a HoG (abbreviation of Histogram of Gradients) function may be used. .
(4) The side rear camera 10 may be an infrared camera instead of the visible light camera. An infrared camera is effective for highlighting people or bicycles in a reduced image when the surroundings of the host vehicle are dark, such as at night.
(5) In the above embodiment, the Seam direction is assumed to be up and down so as to reduce the horizontal width of the image, but when the vertical width is reduced, the Seam direction can be replaced with the left and right.

1 is a block diagram illustrating a schematic configuration of an in-vehicle image display device 1. FIG. It is a flowchart which shows the flow of a process of the main routine of an image process. It is a flowchart of the image energy image generation process which is a subroutine. It is a flowchart of the low image energy location deletion process which is a subroutine. It is a figure which shows the example of the edge image produced | generated in an image energy image production | generation process. It is a figure which shows the example of the image in which the low image energy location deletion process was made.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Car-mounted image display apparatus, 5 ... Car-mounted image processing apparatus, 10 ... Side rear camera, 20 ... Millimeter wave radar, 30 ... Image processing part, 40 ... Vehicle speed sensor, 50 ... Display apparatus.

Claims (7)

Image acquisition means for acquiring an image around the host vehicle;
Speed detecting means for detecting the speed of an object in the image acquired by the image acquiring means;
Image energy calculating means for calculating image energy in the image acquired by the image acquiring means;
Image reduction means for reducing the image by extracting and deleting a region where the image energy in the image calculated by the image energy calculation means is lower than a predetermined value;
With
The image energy calculating means includes
An in-vehicle image processing apparatus that changes image energy of an image area occupied by the object in accordance with the speed of the object detected by the speed detection unit. The in-vehicle image processing apparatus according to claim 1,
The speed detection unit is configured to be able to detect a relative speed of an object in the image with respect to the host vehicle,
The image energy calculating means includes
It is determined whether or not the object and the host vehicle are approaching from the relative speed of the object in the image detected by the speed detection means with respect to the host vehicle, and the object and the host vehicle are approaching. If it is determined that the image energy of the image area occupied by the object is set to be higher than the image energy of the area other than the image area occupied by the object. The in-vehicle image processing apparatus according to claim 1 or 2,
The speed detection means is configured to be able to detect an absolute speed of an object in the image, and the image energy calculation means is
When the absolute velocity of the object in the image detected by the velocity detection unit is larger than a predetermined value, the image energy occupied by the object is higher than the image energy of the region other than the image region occupied by the object. An in-vehicle image processing apparatus characterized by setting. In the in-vehicle image processing apparatus according to claim 2 or 3,
The on-vehicle image processing apparatus according to claim 1, wherein the speed detecting means is an on-vehicle radar. In the in-vehicle image processing apparatus according to claim 2 or 3,
The speed detection means includes
A vehicle-mounted image processing apparatus that detects the speed of the object by performing image processing on the image acquired by the image acquisition means. In-vehicle display means;
The in-vehicle image processing device according to any one of claims 1 to 5,
Display control means for displaying on the display means an image reduced by the in-vehicle image processing apparatus;
An in-vehicle image display device comprising: The in-vehicle image display device according to claim 6,
The display means includes
An in-vehicle image display device, wherein the driver is attached to a mirror portion for visually recognizing the rear of the host vehicle so that a driver can visually recognize a display screen.