JP2009524171A - 複数の画像を結合して鳥瞰図画像にする方法 - Google Patents
複数の画像を結合して鳥瞰図画像にする方法 Download PDFInfo
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- JP2009524171A JP2009524171A JP2008551689A JP2008551689A JP2009524171A JP 2009524171 A JP2009524171 A JP 2009524171A JP 2008551689 A JP2008551689 A JP 2008551689A JP 2008551689 A JP2008551689 A JP 2008551689A JP 2009524171 A JP2009524171 A JP 2009524171A
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- 235000004522 Pentaglottis sempervirens Nutrition 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 claims abstract description 28
- 240000004050 Pentaglottis sempervirens Species 0.000 claims abstract description 19
- 239000002131 composite material Substances 0.000 claims description 38
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000007704 transition Effects 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 8
- 230000001419 dependent effect Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241000905137 Veronica schmidtiana Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011157 data evaluation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
Abstract
Description
2、3 全方向性カメラ
4 境界線
5、6 影
7、8 画像部分
Claims (10)
- 複数の画像を結合して合成鳥瞰図画像を形成する方法であって、
重複又は隣接する周囲エリアの少なくとも2つの画像が、異なる画像撮影位置から撮像され、
前記少なくとも2つの画像が鳥瞰図に変換され、
変換された画像の画像部分(7、8)が結合されて、合成鳥瞰図画像が形成され、
前記画像部分(7、8)が、前記合成画像の第1の画像部分(7、8)と第2の画像部分(8、7)との間の接合部にある移動中の物体により生じる影(5、6)が、予め規定される基準表面上に同じ方向に投影されるように選択される、方法。 - 前記基準表面は、前記画像撮影位置が上方に配置された地面に近似する平面又は該平面に平行な平面であることを特徴とする、請求項1に記載の方法。
- 前記少なくとも2つの画像部分(7、8)が、前記鳥瞰図への変換前にすでに選択されていることを特徴とする、請求項1又は2に記載の方法。
- 前記少なくとも2つの画像及び/又は画像部分(7、8)の前記表面積比が異なることを特徴とする、請求項1〜3のいずれか1項に記載の方法。
- 前記表面積比が3:4であることを特徴とする、請求項4に記載の方法。
- 境界線(4)が前記合成画像において前記画像部分の間を非対称に延びることを特徴とする、請求項1〜5のいずれか1項に記載の方法。
- 参照テーブルが、前記画像の鳥瞰図への変換に使用されることを特徴とする、請求項1〜6のいずれか1項に記載の方法。
- 前記画像が、標準化されたイメージセンサの画像であることを特徴とする、請求項1〜7のいずれか1項に記載の方法。
- 前記画像が全方向性カメラ(2、3)により撮像されることを特徴とする、請求項1〜8のいずれか1項に記載の方法。
- 自動車両(1)の周囲を撮像するための請求項1〜9のいずれか1項に記載の方法の使用。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006003538A DE102006003538B3 (de) | 2006-01-24 | 2006-01-24 | Verfahren zum Zusammenfügen mehrerer Bildaufnahmen zu einem Gesamtbild in der Vogelperspektive |
PCT/EP2007/000231 WO2007087975A2 (de) | 2006-01-24 | 2007-01-12 | Verfahren zum zusammenfügen mehrerer bildaufnahmen zu einem gesamtbild in der vogelperspektive |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2009524171A true JP2009524171A (ja) | 2009-06-25 |
Family
ID=38190247
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008551689A Pending JP2009524171A (ja) | 2006-01-24 | 2007-01-12 | 複数の画像を結合して鳥瞰図画像にする方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20090022423A1 (ja) |
JP (1) | JP2009524171A (ja) |
DE (1) | DE102006003538B3 (ja) |
WO (1) | WO2007087975A2 (ja) |
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DE102006052779A1 (de) * | 2006-11-09 | 2008-05-15 | Bayerische Motoren Werke Ag | Verfahren zur Erzeugung eines Gesamtbilds der Umgebung eines Kraftfahrzeugs |
DE102007049821A1 (de) | 2007-10-16 | 2009-04-23 | Daimler Ag | Verfahren zum Kalibrieren einer Anordnung mit mindestens einer omnidirektionalen Kamera und einer optischen Anzeigeeinheit |
JP5108605B2 (ja) * | 2008-04-23 | 2012-12-26 | 三洋電機株式会社 | 運転支援システム及び車両 |
DE102008035428B4 (de) | 2008-07-30 | 2010-11-18 | Daimler Ag | Verfahren und Vorrichtung zur Überwachung einer Umgebung eines Fahrzeuges |
JP2010250640A (ja) * | 2009-04-17 | 2010-11-04 | Sanyo Electric Co Ltd | 画像処理装置 |
US8416300B2 (en) | 2009-05-20 | 2013-04-09 | International Business Machines Corporation | Traffic system for enhancing driver visibility |
DE102009036200A1 (de) * | 2009-08-05 | 2010-05-06 | Daimler Ag | Verfahren zur Überwachung einer Umgebung eines Fahrzeugs |
US8655019B2 (en) * | 2009-09-24 | 2014-02-18 | Panasonic Corporation | Driving support display device |
JP4952765B2 (ja) * | 2009-10-21 | 2012-06-13 | トヨタ自動車株式会社 | 車両用夜間視界支援装置 |
TWI392366B (zh) * | 2009-12-31 | 2013-04-01 | Ind Tech Res Inst | 全周鳥瞰影像距離介面產生方法與系統 |
JP5479956B2 (ja) * | 2010-03-10 | 2014-04-23 | クラリオン株式会社 | 車両用周囲監視装置 |
DE102011077143A1 (de) * | 2011-06-07 | 2012-12-13 | Robert Bosch Gmbh | Fahrzeugkamerasystem und Verfahren zur Bereitstellung eines lückenlosen Bildes der Fahrzeugumgebung |
DE102011088332B4 (de) | 2011-12-13 | 2021-09-02 | Robert Bosch Gmbh | Verfahren zur Verbesserung der Objektdetektion bei Multikamerasystemen |
DE102012215026A1 (de) | 2012-08-23 | 2014-05-28 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
KR101498976B1 (ko) | 2013-12-19 | 2015-03-05 | 현대모비스(주) | 차량용 주차지원시스템 및 주차지원방법 |
US20150286878A1 (en) | 2014-04-08 | 2015-10-08 | Bendix Commercial Vehicle Systems Llc | Generating an Image of the Surroundings of an Articulated Vehicle |
DE102014213536A1 (de) * | 2014-07-11 | 2016-01-14 | Bayerische Motoren Werke Aktiengesellschaft | Zusammenfügen von Teilbildern zu einem Abbild einer Umgebung eines Fortbewegungsmittels |
KR101596751B1 (ko) * | 2014-09-26 | 2016-02-23 | 현대자동차주식회사 | 운전자 맞춤형 사각 영역 표시 방법 및 장치 |
DE102014220324A1 (de) * | 2014-10-07 | 2016-06-30 | Continental Automotive Gmbh | Head-up-Display zur Überwachung eines Verkehrsraums |
US10189405B2 (en) * | 2015-01-14 | 2019-01-29 | Yazaki North America, Inc. | Vehicular multi-purpose warning head-up display |
DE102015010009A1 (de) | 2015-08-05 | 2017-02-09 | Wirtgen Gmbh | Selbstfahrende Baumaschine und Verfahren zur Anzeige der Umgebung einer selbstfahrenden Baumaschine |
DE102015010011B4 (de) | 2015-08-05 | 2020-03-19 | Wirtgen Gmbh | Selbstfahrende Baumaschine und Verfahren zur Anzeige der Umgebung einer selbstfahrenden Baumaschine |
DE102015121952A1 (de) | 2015-12-16 | 2017-06-22 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Identifizieren eines Objektes in einem Umgebungsbereich eines Kraftfahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug |
DE102016117518A1 (de) | 2016-09-16 | 2018-03-22 | Connaught Electronics Ltd. | Angepasstes Zusammenfügen von Einzelbildern zu einem Gesamtbild in einem Kamerasystem für ein Kraftfahrzeug |
CN110023988B (zh) * | 2016-10-26 | 2023-02-28 | 大陆汽车有限责任公司 | 用于生成道路的组合俯视图像的方法和系统 |
KR101992917B1 (ko) * | 2016-11-30 | 2019-06-25 | 엘지디스플레이 주식회사 | 표시 장치용 기판과, 그를 포함하는 유기 발광 표시 장치 및 그 제조 방법 |
DE102016225073A1 (de) * | 2016-12-15 | 2018-06-21 | Conti Temic Microelectronic Gmbh | Vorrichtung zur bereitstellung einer verbesserten hinderniserkennung |
US11830104B2 (en) * | 2018-11-22 | 2023-11-28 | Sony Semiconductor Solutions Corporation | Image processing apparatus, camera system, and image processing method for superimposing an image representing a part of a vehicle body |
KR102473404B1 (ko) * | 2020-02-25 | 2022-12-02 | 삼성전기주식회사 | 탑뷰 제공 장치 |
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2006
- 2006-01-24 DE DE102006003538A patent/DE102006003538B3/de not_active Expired - Fee Related
-
2007
- 2007-01-12 JP JP2008551689A patent/JP2009524171A/ja active Pending
- 2007-01-12 WO PCT/EP2007/000231 patent/WO2007087975A2/de active Application Filing
- 2007-01-12 US US12/161,925 patent/US20090022423A1/en not_active Abandoned
Patent Citations (1)
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JP2003204547A (ja) * | 2001-10-15 | 2003-07-18 | Matsushita Electric Ind Co Ltd | 車両周囲監視装置およびその調整方法 |
Also Published As
Publication number | Publication date |
---|---|
US20090022423A1 (en) | 2009-01-22 |
WO2007087975A3 (de) | 2007-12-21 |
DE102006003538B3 (de) | 2007-07-19 |
WO2007087975A2 (de) | 2007-08-09 |
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