JP2011139546A - Pseudo-color image generating apparatus, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pseudo-color image generating apparatus and program for obtaining an image of higher visibility. <P>SOLUTION: Based upon light of a visible light zone, a color visible image is captured from a first imaging apparatus 12 for capturing a color visible image comprised of a plurality of pixels each containing color information and luminance information (100). For each of pixels which constitutes the color visible image and of which a color indicated by color information is at least one of blue, yellow, green, red and orange, a pseudo-color image is generated using luminance information obtained by imaging and color information obtained by imaging (170, 110, 112) so as to implement color display; and for each of pixels which constitutes the color visible image and of which a color indicated by color information is any color other than the at least one color, a pseudo-color image is generated using luminance information obtained by imaging (170, 108, 112) so as to implement gradation display. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a pseudo color image generation device and a program, and more particularly to a pseudo color image generation device and a program for generating a pseudo color image.

  As a conventional color photographing apparatus, a color photographing apparatus that is compatible with daytime color reproducibility and nighttime sensitivity and can be used continuously day and night is known (Patent Document 1). In this color photographing apparatus, one G filter among the RGBG4 pixels constituting one unit of a normal Bayer array is replaced with an IR filter, and the RGB filter is assigned to the first mode and the IR filter is assigned to the second mode. ing. In addition, an infrared cut filter is applied to the three pixels of RGB.

  As a conventional color image generation apparatus, a color image reproduction apparatus that reproduces a color image in which both color information and luminance information are optimal is known (Patent Document 2). This color image reproduction device extracts infrared information from visible image data, extracts color information (hue, saturation), and combines it with infrared luminance information or visible luminance information to reproduce a pseudo color image. is doing.

Japanese Patent Laid-Open No. 2005-6066 JP 2007-184805 A

  However, in the technique described in Patent Document 1, since the RGB filter and the IR filter are switched and used depending on the mode, when the surroundings are dark such as at night, only the monochrome image using only the IR filter and having low visibility is used. There is a problem that it cannot be provided.

  In the technique described in Patent Document 2, only one of a visible image and an infrared image is selected according to a mode designated in advance by a user or the like, and luminance information of the selected image is extracted. As a result, when shooting with a color camera and an infrared camera, if there is brightness such as illumination, the amount of infrared light may be less than the amount of visible light, but infrared brightness is selected. In such a case, it becomes darker than the brightness of the visible light and the visibility is deteriorated.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a pseudo color image generation apparatus and a program that can obtain an image with better visibility.

  In order to achieve the above object, according to the pseudo color image generation apparatus according to the first invention, the generation unit constitutes a color visible image and the color information indicated by the color information is red. In order to display in color, the luminance information obtained by photographing and the color information obtained by photographing are used, and a color visible image is formed and the color indicated by the color information is a pixel other than the red color. Then, a pseudo color image is generated using luminance information obtained by photographing so as to be displayed in grayscale.

  As described above, according to the pseudo color image generation device according to the first aspect of the invention, the color indicated by the color information is, for example, a signal light that a vehicle driver should pay attention to particularly at night so that the visibility is improved. Color display for color visible image pixels (that is, pixels whose color information is red), which is the color, the color of the sign, and the color of the taillight (these colors are, for example, red) As described above, when the luminance information obtained by photographing and the color information obtained by photographing are used and the color indicated by the color information is compared with a red color for a vehicle driver, for example, special attention is required. For a pixel of a color that is not set (that is, a pixel whose color information indicates a color other than red), a pseudo color image is generated using luminance information obtained by photographing so as to be displayed in shades.

  Therefore, according to the pseudo color image generation device according to the first aspect of the invention, an image with better visibility can be obtained.

  In order to achieve the above object, a pseudo color image generation apparatus according to the second invention is based on light in the visible light range, and is a color visible image composed of a plurality of pixels each including color information and luminance information. An acquisition unit that acquires the color visible image from an imaging unit that captures the image, and a pixel that forms the color visible image and has at least one color of color indicated by color information of blue, yellow, green, red, and orange Uses the luminance information obtained by photographing and the color information obtained by photographing so that the color is displayed, and constitutes the color visible image, and the color indicated by the color information is the at least one color. The other color pixels are configured to include generation means for generating a pseudo color image using the luminance information obtained by photographing so as to be displayed in shades.

  According to the pseudo color image generation device of the second invention, the generation means constitutes a color visible image, and the color indicated by the color information is at least one color of blue, yellow, green, red, and orange. As for the pixels of, the luminance information obtained by photographing and the color information obtained by photographing are used so as to be displayed in color, and a color visible image is formed and the color indicated by the color information is the at least one color. For the pixels of other colors, a pseudo color image is generated using luminance information obtained by photographing so as to be displayed in shades.

  As described above, according to the pseudo color image generation device according to the second aspect of the present invention, the color indicated by the color information is, for example, a signal light that a vehicle driver should be particularly careful at night to improve visibility. Color visible image pixels (ie, color information indicates colors, signs, taillights, and streetlights (these colors include, for example, blue, yellow, green, red, orange, etc.) For the pixels of at least one color of blue, yellow, green, red, and orange), the luminance information obtained by photographing and the color information obtained by photographing are used so as to be displayed in color. For example, pixels whose color information does not require special attention for a driver of the vehicle (that is, pixels whose color information indicates a color other than the at least one color) are displayed in gray. And luminance information obtained by shooting Using, to generate a pseudo color image.

  Therefore, according to the pseudo color image generation apparatus according to the second aspect of the invention, an image with better visibility can be obtained.

  In order to achieve the above object, a pseudo color image generation apparatus according to a third aspect of the present invention is the pseudo color image generation apparatus according to the first or second aspect of the invention, wherein the photographing means is further connected in the near infrared region. Based on the light, an infrared image composed of a plurality of pixels each including luminance information is captured, the acquisition unit is further configured to acquire the infrared image from the imaging unit, and the generation unit Replacing the luminance of the pixels that constitute the pseudo color image generated by the pixel, the luminance of which is lower than the luminance of the corresponding pixel that is the corresponding pixel of the infrared image, with the luminance of the corresponding pixel, or The image processing apparatus further includes a replacement unit that replaces the luminance of the pixels constituting the pseudo color image with the luminance of the corresponding pixel of the infrared image by using a weighted average value. For the pixels of the pseudo color image, the luminance information indicating the replaced luminance and the corresponding color information of the pseudo color image are used, and the pixels of the pseudo color image whose luminance is not replaced by the replacement unit are obtained by photographing. A pseudo color image is further generated using the obtained luminance information and corresponding color information of the pseudo color image.

  According to the pseudo color image generation device of the third invention, the luminance of the pixels that constitute the pseudo color image and whose luminance is lower than the luminance of the corresponding pixel that is the corresponding pixel of the infrared image by the replacement unit. Is replaced with the luminance of the corresponding pixel or the weighted average value of the luminance of the pixel constituting the pseudo color image and the luminance of the corresponding pixel of the infrared image. Then, for the pixels of the pseudo color image whose luminance has been replaced by the replacing unit, the luminance information indicating the replaced luminance and the corresponding color information of the pseudo color image are used, and the luminance is replaced by the replacing unit. For the pixels of the pseudo color image that have not been obtained, the luminance information obtained by photographing and the color information corresponding to the pseudo color image are used to further generate a pseudo color image.

  Thus, according to the pseudo color image generation device according to the third aspect of the present invention, the pseudo color image generation apparatus compares the brightness of each pixel of the pseudo color image with the brightness of each corresponding pixel of the infrared image corresponding to each pixel. Pixels that constitute a color image and whose luminance is lower than the luminance of the corresponding pixel of the infrared image are replaced with luminance that provides better visibility, and a pseudo color image is further generated. .

  Further, in the replacement means of the third invention, when the weighted average value of the luminance of the pixels constituting the pseudo color image and the luminance of the corresponding pixel of the infrared image is replaced, the saturation of the luminance is suppressed. Can do.

  Therefore, according to the pseudo color image generation apparatus according to the third aspect of the invention, an image with better visibility can be obtained.

  In order to achieve the above object, a program according to a fourth aspect of the present invention provides a computer that displays a color visible image composed of a plurality of pixels each including color information and luminance information based on light in the visible light range. The acquisition means for acquiring the color visible image from the imaging means for imaging, and the color visible image that constitutes the color visible image and the pixel whose color information is red is obtained by shooting so that it is displayed in color. In addition, the luminance information and the color information obtained by photographing are used, and the color visible image is formed, and the pixels indicated by the color information other than the red color are displayed in shades. It is a program for functioning as a generating means for generating a pseudo color image using the luminance information obtained by photographing.

  According to the program of the fourth invention, an image with better visibility can be obtained on the same principle as that of the first invention.

  In order to achieve the above object, a program according to a fifth aspect of the present invention provides a computer that generates a color visible image composed of a plurality of pixels each including color information and luminance information based on light in the visible light range. An acquisition unit that acquires the color visible image from an imaging unit that shoots, and a pixel that forms the color visible image and has at least one color of color indicated by color information of blue, yellow, green, red, and orange The color information obtained by photographing and the luminance information obtained by photographing are used so as to be displayed in color, and the color that constitutes the color visible image and indicated by the color information is other than the at least one color. The pixel of the color is a program for functioning as a generation means for generating a pseudo color image by using the luminance information obtained by photographing so as to be displayed with shading. That.

  According to the program of the fifth invention, an image with better visibility can be obtained on the same principle as the second invention.

  As described above, according to the pseudo color image generation apparatus and program of the present invention, an effect that an image with better visibility can be obtained is obtained.

It is a figure which shows the structure of the pseudo | simulation color image generation apparatus which concerns on this Embodiment. It is a functional block diagram of a pseudo color image generation device according to the present embodiment. It is a flowchart which shows the pseudo | simulation color image generation process which the pseudo | simulation color image generation apparatus which concerns on this Embodiment performs. It is an example of the screen displayed by the pseudo | simulation color image generation apparatus which concerns on this Embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  In the present embodiment, a case where the present invention is applied to an imaging system that is mounted on a vehicle and generates and displays a pseudo color image from a captured front image will be described as an example. Hereinafter, this photographing system is referred to as a pseudo color image generation apparatus.

  As shown in FIG. 1, the pseudo color image generation apparatus 10 according to the present embodiment includes a first imaging device 12, a second imaging device 14, an infrared light source 16, a computer 18, and a display device 20.

  The 1st imaging device 12 is provided with the CCD camera which image | photographs the front of the own vehicle and outputs a color visible image (visible light image), and is attached so that the front of the own vehicle can be image | photographed. The first imaging device 12 includes a plurality of light receiving elements that output signals corresponding to light incident on each of a plurality of pixels arranged two-dimensionally, and converts signals output from the plurality of light receiving elements into digital signals. Then, image data of a color visible image composed of a plurality of pixels each including color information and luminance information is generated and output. That is, the first imaging device 12 captures and outputs a color visible image composed of a plurality of pixels each including color information and luminance information based on light in the visible light range. In the present embodiment, the color information includes, for example, saturation and hue. In the present embodiment, the luminance information includes luminance (luminance value), and the luminance information indicates the luminance.

  The 2nd imaging device 14 is provided with the filter and CCD camera which permeate | transmit the light of the wavelength band of near-infrared light among the incident lights, and is attached so that the front of the own vehicle can be image | photographed. A filter (not shown) that transmits light in the near-infrared wavelength band is provided so as to face the lens surface of the second imaging device 14. The second imaging device 14 includes a plurality of light receiving elements that output signals corresponding to light incident on each of the plurality of pixels arranged in a two-dimensional array, and the signals output from the plurality of light receiving elements are converted into digital signals. Conversion is performed to generate and output image data of an infrared image composed of a plurality of pixels each including luminance information (luminance, pixel value). That is, the 2nd imaging device 14 image | photographs and outputs the infrared image comprised from the several pixel each containing luminance information based on the light of a near infrared region.

  The first photographing device 12 and the second photographing device 14 correspond to photographing means of the present invention.

  The infrared light source 16 irradiates near-infrared light (light including near-infrared light) in front of the host vehicle when photographing with the second photographing device 14.

  The computer 18 performs image processing on the color visible image captured by the first image capturing device 12 and the infrared image captured by the second image capturing device 14 to generate a pseudo color image, and displays the pseudo color image. Thus, the display device 20 is controlled.

  The computer 18 is for controlling the pseudo color image generation apparatus 10 as a whole. The computer 18 includes a ROM (Read Only Memory) 18a, a RAM (Random Access Memory) 18b, a CPU (Central Processing Unit) 18c, and an I / O (input / output) port 18d. The ROM 18a, CPU 18b, RAM 18c, and I / O port 18d are connected to each other via a bus 18e.

  A ROM 18a as a storage medium stores a basic program such as an OS. The ROM 18a stores a program for executing a processing routine of pseudo color image generation processing, the details of which will be described below.

  The CPU 18c reads each program from the ROM 18a and executes processing. Various data are temporarily stored in the RAM 18b.

  When the computer 18 is represented by functional blocks according to a pseudo color image generation process described in detail below, it can be represented by an acquisition unit 18f, a generation unit 18g, and a replacement unit 18h, as shown in FIG.

  The acquisition unit 18 f acquires a color visible image and an infrared image from the imaging unit of the first imaging device 12 and the second imaging device 14.

  The generation unit 18g is obtained by photographing so that a color visible image is formed and pixels of at least one of the colors indicated by the color information are blue, yellow, green, red, and orange are displayed in color. The luminance information and the color information obtained by photographing are used, and the color visible image is formed, and the color indicated by the color information is displayed in shades of pixels other than the at least one color. A pseudo color image is generated using the luminance information obtained by the above. Further, the generation unit 18g uses the luminance information indicating the replaced luminance and the corresponding color information of the pseudo color image for the pixel of the pseudo color image whose luminance is replaced by the replacement unit 18h, and the luminance is displayed by the replacement unit 18h. For the pixels of the pseudo color image that have not been replaced, a pseudo color image is further generated using the luminance information obtained by shooting and the corresponding color information of the pseudo color image.

  The replacement unit 18h is a pixel that constitutes the pseudo color image generated by the generation unit 18g, and the luminance of the pixel that is lower than the luminance of the corresponding pixel that is the corresponding pixel of the infrared image is the luminance of the corresponding pixel. Replace.

  The display device 20 includes an LCD (Liquid Crystal Display) that displays an image based on input data, and the display device 20 displays an image under the control of the computer 18.

  Next, a processing routine of pseudo color image generation processing executed by the CPU 18c of the computer 18 will be described with reference to FIG. In the present embodiment, near-infrared light is radiated forward by the infrared light source 16, and the front of the host vehicle is continuously photographed by each of the first photographing device 12 and the second photographing device 14. In this case, the CPU 18c executes a pseudo color image generation process shown in FIG.

  First, in step 100, image data of a color visible image photographed by the first photographing device 12 is acquired, and image data of an infrared image photographed by the second photographing device 14 is acquired. Thereby, a color visible image and an infrared image are acquired from the imaging means of the first imaging device 12 and the second imaging device 14. Step 100 corresponds to the acquisition means of the present invention.

  In the next step 102, a pixel that has not been subjected to the processing in step 104 and later, which will be described in detail below, is set as a pixel of interest for the color visible image acquired in step 100.

  In the next step 104, the color visible image set as the target pixel in step 102 is converted by converting the image data of the pixel of the color visible image set as the target pixel in step 102 this time into the HSV space from the RGB space. The pixel color information (saturation, hue) and luminance information (including lightness (luminance)) are extracted.

  In the next step 170, the color indicated by the color information of the pixel of interest in the color visible image extracted in step 104 is at least one color (for example, red color) of blue, yellow, green, red, and orange. It is determined whether or not there is. Here, the colors of blue, yellow, green, red, and orange are, for example, the color of the signal light, the color of the sign, the color of the taillight, and the color of the street light that the driver of the vehicle should pay attention to particularly at night. . Also, among these colors, the red color can be considered the most notable color, and the red color is, for example, the color of the signal light, the color of the sign, and the color of the tail light. The color used for the determination in step 170 may be any color as long as it is “at least one color of blue, yellow, green, red, and orange”. For example, “red color” or “red Various combinations such as “color and green color” and “green color and orange color” are conceivable.

  If the determination in step 170 is affirmative (determined that the color indicated by the color information of the pixel of interest in the color visible image extracted in step 104 is at least one of blue, yellow, green, red, and orange) If so, go to the next step 110. On the other hand, if a negative determination is made in step 170 (when it is determined that the color indicated by the color information of the pixel of interest in the color visible image extracted in step 104 is not the at least one color), Proceed to step 108. Here, “when it is determined that the color is not at least one color” means, for example, when the color used for the determination in step 170 is “red color”, a color other than the red color The case where it is determined that

  In step 108, the target pixel in the color visible image set in step 102 is determined as a grayscale display pixel. Note that the pixel of interest in the color visible image determined as the light and dark display pixel is light and dark displayed in step 128 described in detail below. Then, the process proceeds to the next step 112.

  In step 110, the pixel of interest in the color visible image set in step 102 is determined as a color display pixel. Note that the pixel of interest in the color visible image determined as the color display pixel is displayed in color in step 128 described in detail below. Then, the process proceeds to the next step 112.

  In step 112, for the pixel of the color visible image set as the target pixel in step 102 at this time and determined as the color display pixel in step 110, the image data of this pixel is converted from the HSV space to the RGB space. For the pixel of the color visible image that has been set as the target pixel in step 102 and is determined as the grayscale display pixel in step 108, the brightness of this pixel is set to R, G, B. Thus, the pixel image data is converted from the HSV space to the RGB space. Thereby, RGB image data of the pixel of the color visible image set as the target pixel at the above step 102 can be obtained. Note that in step 112, the saturation value of this pixel is set to 0 for the pixel of the color visible image set as the target pixel in step 102 at this time and determined as the grayscale display pixel in step 108. The hue value is changed to a value indicating a predetermined color (the brightness is not changed), and the image data of this pixel may be converted from the HSV space to the RGB space.

  In the next step 114, the processing of each of the above steps (108 when affirmative determination is made at steps 102, 104, 106, 106, 110 and 112 when negative determination is performed at 106) is performed for all pixels. It is determined whether or not the process has been completed. If all the pixels have not been completed, the process returns to step 102, and other pixels not yet processed are set as the target pixel. On the other hand, if it is determined in step 114 that the processing in each of the above steps has been completed for all the pixels, the process proceeds to the next step 116.

  As described above, in the processing of steps 102, 104, 106, 170, 110, 112, and 114, the colors that constitute the color visible image and that the color information indicates are blue, yellow, green, red, and orange. As for at least one color pixel, the luminance information obtained by photographing (luminance information extracted in step 104 above) and the color information obtained by photographing (extracted in step 104 above) so as to be displayed in color. Luminance information obtained by photographing so that a color visible image is formed and pixels of the color other than the at least one color are displayed in shades of gray. To generate a pseudo color image. “Generating a pseudo color image” means “generating image data of a pseudo color image”.

  In step 116, a pixel at the same position is set as a target pixel for each of the generated pseudo color image and the infrared image acquired in step 100. Note that the pixel set as the pixel of interest in step 116 is a pixel that has not been subjected to the processing from step 118 on which details will be described below. In addition, a target pixel in the infrared image corresponding to the target pixel in the pseudo color image is referred to as a corresponding pixel.

  In step 118, the pixel data of the pseudo color image set as the target pixel in step 116 is converted from the RGB space to the HSV space, thereby the pixel of the pseudo color image set as the target pixel in step 116. Color information (saturation, hue) and luminance information (including brightness and luminance) are extracted.

  In the next step 120, the luminance Ic of the pixel of interest in the pseudo color image set in step 116 is compared with the luminance Ir of the pixel of interest in the infrared image set in step 116 this time. Is less than the luminance Ir.

  If it is determined in step 120 that the luminance Ic is smaller than the luminance Ir, the process proceeds to the next step 122. On the other hand, if it is determined in step 120 that the luminance Ic is greater than or equal to the luminance Ir, the process proceeds to the next step 124.

  In step 122, the luminance Ic of the pixel of interest in the pseudo color image is set to the luminance Ir of the infrared image, thereby replacing the luminance Ic with the luminance Ir. Then, the process proceeds to the next step 124.

  In step 124, it is determined whether or not the processing in each of the above steps (122 in the case where affirmative determination is made in steps 116, 118, 120, and 120) has been completed for all pixels, and has not been completed for all pixels. In this case, the process returns to step 116, and other pixels not yet processed are set as the target pixel. On the other hand, if it is determined in step 124 that the processing in each step has been completed for all the pixels, the process proceeds to the next step 126.

  As described above, in the processing of steps 116, 118, 120, 122, and 124 described above, the luminance is higher than the luminance Ir of the corresponding pixel that is a pixel constituting the pseudo color image and corresponding to the infrared image. The luminance Ic of the small pixel is replaced with the luminance Ir of the corresponding pixel.

  In step 126, for the pixels of the pseudo color image whose luminance is replaced in step 122, the luminance information indicating the luminance replaced in step 122 and the color information extracted in step 118 (correspondence of the pseudo color image). For the pixels of the pseudo color image whose luminance is not replaced in step 122, the pseudo color image is obtained using the luminance information extracted in step 118 and the color information extracted in step 118. Are converted from the HSV space to the RGB space. Thereby, the RGB image data of the pseudo color image can be obtained again, and the pseudo color image is further generated by obtaining the RGB image data of the pseudo color image again.

  In step 128, the display of the display device 20 is controlled so as to display the pseudo color image generated using the RGB image data obtained in step 126. Then, the process returns to step 100 above.

  As described above, in the processing of steps 126 and 128 described above, with respect to the pixels of the pseudo color image whose luminance is replaced in step 122, the luminance information indicating the replaced luminance and the corresponding color information of the pseudo color image. For the pixels of the pseudo color image whose luminance is not replaced in step 122, a pseudo color image is further generated using the luminance information obtained by photographing and the corresponding color information of the pseudo color image.

  The pseudo color image generation process according to the present embodiment has been described above. Step 100 is executed by the acquisition means 18f, steps 102, 104, 170, 108, 110, 112, 114, 126, and 128 are executed by the generation means 18g, and steps 116, 118, 120, 122, and 124 are replaced. Performed by means 18h.

  As described above, according to the pseudo color image generation device 10 according to the present embodiment, the color indicated by the color information, for example, the driver of the vehicle is particularly careful at night to improve the visibility. Color visible image pixels that are the color of the signal light, the color of the sign, the color of the tail light, and the color of the street light (these colors are, for example, blue, yellow, green, red, orange, etc.) Luminance information obtained by photographing and color information obtained by photographing such that the color indicated by the information is a pixel of at least one of blue, yellow, green, red, and orange) The color indicated by the color information is, for example, a pixel having a color that does not require special attention for the driver of the vehicle (that is, the pixel indicated by the color information is a color other than the at least one color). As obtained by shooting Using the luminance information to generate a pseudo-color image.

  For example, according to the pseudo color image generation apparatus 10 according to the present embodiment, an infrared image as shown in FIG. 4A and a color visible image as shown in FIG. In such a case, a pseudo color image of a partial monochrome (light / dark) image as shown in FIG. 4C is generated by the processing of steps 102, 104, 170, 108, 110, 112, 114. Therefore, according to the pseudo color image generation apparatus 10 according to the present embodiment, an image with better visibility can be obtained.

  Further, by the processing of steps 126 and 128, the pixels constituting the pseudo color image are compared by comparing the luminance Ic of each pixel of the pseudo color image with the luminance Ir of each corresponding pixel of the infrared image corresponding to each pixel. Thus, the luminance Ic of the pixel whose luminance is smaller than the luminance Ir of the corresponding pixel of the infrared image is replaced with luminance that makes the visibility better, and a pseudo color image is further generated. For example, a pseudo color image with better visibility as shown in FIG. 4D is generated and displayed on the display device 20.

  In this embodiment, the pseudo color images generated by the processes of steps 102, 104, 170, 108, 110, 112, and 114 are subjected to the processes of steps 116, 118, 120, 122, and 124. The example in which the pseudo color image is further generated and displayed in steps 126 and 128 has been described, but the present invention is not limited to this. For example, the pseudo color image generated by the processing of steps 102, 170, 106, 108, 110, 112, and 114 may be controlled to be displayed on the display device 20.

  Further, in the present embodiment, in the processing of steps 116, 118, 120, 122, and 124 described above, the luminance is higher than the luminance Ir of the corresponding pixel that is a pixel constituting the pseudo color image and corresponding to the infrared image. An example has been described in which the luminance Ic of a pixel with a small pixel is replaced with the luminance Ir of the corresponding pixel. However, the present invention is not limited to this. For example, the luminance Ic of a pixel that constitutes a pseudo color image and has a luminance smaller than the luminance Ir of the corresponding pixel that is a corresponding pixel of the infrared image, and the luminance Ic of the pixel that constitutes the pseudo color image and the infrared You may make it replace with the value of the weighted average with the brightness | luminance Ir of the corresponding pixel of an image. In this case, it is assumed that a predetermined weight is given to both pixels. Thereby, when the brightness | luminance Ir is saturated, the saturation of the brightness | luminance can be suppressed.

  In the above embodiment, the case where the block that is the determination unit for determining whether the color indicated by the color information is a specific color is the pixel unit has been described as an example. However, the present invention is not limited to this. Instead, an area composed of a plurality of pixels may be a block. In this case, for example, the color information of each block may be averaged and used for determination.

  Moreover, although the case where a pseudo color image is displayed using a color visible image and an infrared image has been described as an example, the present invention is not limited to this, and using a color visible image and a far infrared image, A pseudo color image may be displayed. In this case, a far-infrared image is generated using a far-infrared camera, or the front of the host vehicle is photographed using a far-infrared filter that transmits the wavelength band of far-infrared light. do it. Moreover, what is necessary is just to image | photograph the front of the own vehicle, without using an infrared light source.

  Further, the case where the acquisition unit, the generation unit, the color information calculation unit, and the replacement unit are realized by a computer has been described as an example, but the present invention is not limited thereto, and the acquisition unit, the generation unit, the color information calculation unit, and The replacement means may be constituted by a plurality of computers that realize the function of each means, or one or a plurality of electronic circuits.

  It is also possible to provide the program of the present invention by storing it in a storage medium.

DESCRIPTION OF SYMBOLS 10 Pseudo color image production | generation apparatus 12 1st imaging device 14 2nd imaging device 16 Infrared light source 18 Computer 18a ROM
18c CPU
18f acquisition means 18g generation means 18h replacement means 20 display device

Claims (6)

An acquisition means for acquiring the color visible image from an imaging means for capturing a color visible image composed of a plurality of pixels each including color information and luminance information based on light in the visible light range;
For pixels that constitute the color visible image and whose color information indicates a red color, the luminance information obtained by photographing and the color information obtained by photographing are used so as to be displayed in color. The pseudo-color image is formed using the luminance information obtained by photographing so that the color visible image and the color information indicated by the color information other than the red color are displayed in grayscale. Generating means for generating;
A pseudo color image generating apparatus including: An acquisition means for acquiring the color visible image from an imaging means for capturing a color visible image composed of a plurality of pixels each including color information and luminance information based on light in the visible light range;
The luminance information obtained by photographing so that at least one pixel of the color visible image that constitutes the color visible image and whose color information indicates blue, yellow, green, red, and orange is displayed in color. In addition, the color information obtained by photographing is used, and the color visible image is formed and the color indicated by the color information is displayed in shades so that pixels of colors other than the at least one color are displayed in grayscale. Generating means for generating a pseudo color image using the obtained luminance information;
A pseudo color image generating apparatus including: The imaging means further captures an infrared image composed of a plurality of pixels each including luminance information, based on near-infrared light,
The acquisition unit further acquires the infrared image from the imaging unit,
Whether the luminance of a pixel constituting the pseudo color image generated by the generating unit and having a luminance lower than that of the corresponding pixel corresponding to the infrared image is replaced with the luminance of the corresponding pixel Or replacement means for replacing with a weighted average value of the luminance of the pixels constituting the pseudo color image and the luminance of the corresponding pixels of the infrared image,
The generation unit uses luminance information indicating the replaced luminance and corresponding color information of the pseudo color image for the pixel of the pseudo color image whose luminance is replaced by the replacement unit, and the luminance is displayed by the replacement unit. The pseudo color image is further generated by using the luminance information obtained by photographing and the corresponding color information of the pseudo color image for the pixels of the pseudo color image that are not replaced. Pseudo color image generation device. Computer
An acquisition unit that acquires the color visible image from an imaging unit that captures a color visible image composed of a plurality of pixels each including color information and luminance information based on light in the visible light range, and the color visible image In addition, for the pixel whose color information is red, the luminance information obtained by photographing and the color information obtained by photographing are used so that the color visible image is displayed. Constructing and functioning as a generating means for generating a pseudo color image by using the luminance information obtained by photographing so that a pixel of a color other than the red color is displayed in shades of colors Program to let you. Computer
An acquisition unit that acquires the color visible image from an imaging unit that captures a color visible image composed of a plurality of pixels each including color information and luminance information based on light in the visible light range, and the color visible image In addition, the luminance information obtained by photographing so that the color information indicates at least one pixel of blue, yellow, green, red, and orange is displayed in color and obtained by photographing. The luminance information obtained by photographing so that the color information is used and the color visible image and the color indicated by the color information are displayed in shades of pixels other than the at least one color. A program for functioning as a generating means for generating a pseudo color image using   The program for functioning a computer as each means which comprises the pseudo | simulation color image generation apparatus of Claim 3.