JP2012039258A - Spectrum measurement apparatus and spectrum measurement method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a spectrum measurement apparatus and a spectrum measurement method capable of visibly displaying various objects existing in the travel environment of the mobile object such as a vehicle, in real time and with sufficient recognizability.SOLUTION: A spectrum measurement apparatus 10 generates a spectrum image D on the basis of a plurality of pieces of wavelength information measured by a spectrum sensor mounted to the mobile object and wavelength images corresponding to the respective pieces of the wavelength information. The spectrum measurement apparatus 10 comprises image processing units (12 and 14) which select a plurality of required wavelength images from the spectrum image D, compose the selected wavelength images to generate an environment image F of the surrounding of the mobile object, and visibly display the generated environment image F on an image display device 15.

Description

  The present invention relates to a spectrum measuring apparatus and a spectrum measuring method for generating an image for visible display from a spectrum image measured by a spectrum sensor mounted on a vehicle, particularly a moving body such as an automobile.

  In order to assist the driver (driver) to recognize the driving environment with the naked eye in a driving environment where visibility is low, such as at night, an apparatus that provides an image to the driver to improve the visibility is known. In such an apparatus, usually, an image generated by performing image processing such as emphasizing a pedestrian on a captured image of a driving environment around the vehicle captured by an imaging apparatus mounted on the vehicle is also mounted on the vehicle. Display on the device.

  Conventionally, for example, there is an apparatus described in Patent Document 1 as an apparatus that assists the driver in recognizing the driving environment in such a situation where visibility with the naked eye is reduced. The apparatus described in Patent Document 1 includes a first camera that is sensitive to the visible spectral range, a second camera that is sensitive to the infrared spectral range, a video signal based on the imaging of the first camera, and the imaging of the second camera. And an image processing device that outputs a combined video signal created by combining the image signals based on the above to a display screen. In the image processing device, the luminance signal of the video signal based on the imaging is replaced with the image signal, whereby the brightness of each pixel of the video signal is defined by the image signal detected in the infrared spectrum region. Generate a video signal. As a result, pedestrians and the like are displayed with high brightness on the display screen based on the image signal in the infrared spectral range. It is possible to favorably support the recognition of pedestrians and the like.

Special table 2007-506074

  According to the above apparatus, the recognition of the driving environment by the driver can be expanded to the target sensitive to the infrared spectrum region. However, in the driving environment, there are many objects that need to be recognized by the driver but are not very sensitive to the infrared spectrum, such as road surfaces and signs, etc. I can't help.

  The present invention has been made in view of such circumstances, and its purpose is to display various objects existing in the traveling environment of a moving body such as a vehicle in real time and with sufficient recognizability. An object of the present invention is to provide a spectrum measuring apparatus and a spectrum measuring method capable of performing the same.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
The invention according to claim 1 is a spectrum measurement device that generates a spectrum image based on a plurality of wavelength information measured by a spectrum sensor mounted on a moving body and a wavelength image corresponding to each of the wavelength information. In addition to selecting a plurality of wavelength images required from the spectrum image, the selected plurality of wavelength images are combined to generate an environment image around the moving body, and the generated environment image is visible on a display device. The gist is to provide an image processing unit to be displayed.

  According to such a configuration, the environment image around the moving object is generated by synthesizing the selected wavelength image based on the required wavelength information, and thus the environment image is selected as necessary. It is possible to generate an image with high visibility in which an image of an object measured under the wavelength information is emphasized. As a result, the display device displays the highlighted object on the basis of the selected wavelength information with high visibility. Therefore, the traveling environment (such as a vehicle) by a driver of a moving object such as a vehicle ( It is possible to favorably support the recognition of the mobile environment.

  In addition, according to such a configuration, since the target to be measured based on the wavelength information is extracted based on the selection of the required wavelength image, an image that requires processing time for the spectral image to extract the target. There is no need to perform recognition processing. For this reason, it becomes possible to generate an environment image around the moving body in which high visibility is given to the target in a short time compared to the time required for the image recognition processing. As a result, even if the spectrum measuring apparatus is mounted on a moving body, an environment image around the moving body can be generated in real time. That is, by displaying an image for favorably supporting the recognition of the driving environment by the driver or the like in real time, the recognition of the driving environment (moving environment) by the driver or the like can be supported in real time. .

  The invention according to claim 2 is characterized in that, in the spectrum measurement device according to claim 1, the image processing unit changes a plurality of wavelength images selected from the spectrum image according to a measurement object.

  According to such a configuration, since it is possible to select a wavelength image suitable for detection of various measurement objects, an environment image around the moving body that emphasizes the desired measurement object is generated based on the selected wavelength images. You will be able to As a result, a visible image that accurately supports recognition of one or more specific measurement objects can be provided to the driver or the like.

  According to a third aspect of the present invention, in the spectrum measuring apparatus according to the first or second aspect, the image processing unit includes a plurality of wavelength images selected from the spectral image in wavelengths included in the ambient light outside the moving body. The gist is to determine the information in consideration.

  According to such a configuration, since the wavelength image is selected in consideration of the wavelength information included in the environmental light, the measurement target image based on the environmental light that is mainly reflected by the measurement target is efficiently detected. Will be able to. That is, this makes it possible to efficiently generate an environmental image that emphasizes the measurement target.

  According to a fourth aspect of the present invention, in the spectrum measurement apparatus according to any one of the first to third aspects, the moving body includes light from a light source mounted on the moving body in a measurement range of the spectrum sensor. The gist is that the image processing unit determines a plurality of wavelength images selected from the spectrum image in consideration of wavelength information included in the light of the light source.

  According to such a configuration, since the wavelength image is selected in consideration of the wavelength information included in the light source of the moving body, it is possible to efficiently detect the measurement target image that reflects the light having the wavelength included in the light source. Will be able to. That is, this also makes it possible to efficiently generate an environmental image in which the measurement target is emphasized.

  According to a fifth aspect of the present invention, in the spectrum measurement device according to any one of the first to fourth aspects, the image processing unit separately sets a contrast of each of a plurality of wavelength images selected from the spectral image. The gist is to adjust and execute the synthesis process.

  According to such a configuration, the environment image is generated after the contrast that differs for each wavelength image is adjusted to a contrast suitable for synthesis. For example, for two objects, since one object is highly sensitive to one wavelength information, the one wavelength image corresponding to the same wavelength information is indicated by a strong light intensity. On the other hand, other objects different from the one object are strongly sensitive to other wavelength information different from the one wavelength information, and therefore are indicated by strong light intensity in other wavelength images corresponding to the same wavelength information. . At this time, the light intensity of one object in one wavelength image and the light intensity of another object in another wavelength image are not always at the same level. For this reason, when an environment image is created simply by combining one wavelength image and another wavelength image, either one object or another object is displayed with different light intensity on the environment image. There is also a risk that one of the objects will not stand out. Therefore, if the contrast of the one wavelength image and the other wavelength image is adjusted so that the light intensity of the object of each wavelength image is equal, the one object and the other object in the environmental image are respectively Displayed with the same light intensity, the visibility of each object is ensured.

  The invention according to claim 6 is the spectrum measuring apparatus according to any one of claims 1 to 4, wherein the image processing unit is located at the same position among a plurality of wavelength images selected from the spectrum image. The pixel having the light intensity with the highest contrast with the surrounding pixels is selected from the pixels to be, and the environment image around the moving object is synthesized by combining the selected pixels as an image. The gist is to generate.

  According to such a configuration, pixels having light intensity with high contrast with the surroundings are selected from the respective wavelength images, so that an environmental image obtained by combining these pixels as an image can be obtained as an image with high contrast. become able to. Thereby, a driver's etc. can be provided with an image with high visibility of a measuring object.

  The invention according to claim 7 is the spectrum measuring apparatus according to any one of claims 1 to 6, wherein the image processing unit converts a part of the wavelength image with respect to the wavelength image selected from the spectrum image. The gist is to exclude.

  According to such a configuration, for example, a part where the measurement target to be detected is not imaged can be excluded from each wavelength image, in other words, only a part where the measurement target to be detected is imaged can be selected. Therefore, it is possible to efficiently generate an environmental image in which a measurement target to be detected is emphasized.

  The invention according to claim 8 is the spectrum measuring apparatus according to any one of claims 1 to 7, wherein the moving body determines a type of traveling environment by an environment discrimination device mounted on the moving body. The gist of the invention is that the image processing unit determines a plurality of wavelength images selected from the spectrum image in consideration of the determined type of traveling environment.

  According to such a configuration, since the wavelength image to be selected can be changed in consideration of the driving environment, an environment image with high recognizability of the measurement target can be efficiently obtained according to the traffic environment in each case. Can do.

  The invention according to claim 9 is a spectrum measurement method for generating a spectrum image based on a plurality of wavelength information measured by a spectrum sensor mounted on a moving body and a wavelength image corresponding to each of the wavelength information. In addition to selecting a plurality of wavelength images required from the spectrum image, the selected plurality of wavelength images are combined to generate an environment image around the moving body, and the generated environment image is visible on a display device. The gist is to display.

  According to such a method, since the environment image around the moving object is generated by synthesizing the selected wavelength image based on the required wavelength information, the environment image is selected as necessary. It is possible to generate an image with high visibility in which an image of an object measured under the wavelength information is emphasized. As a result, the display device displays the highlighted object on the basis of the selected wavelength information with high visibility. Therefore, the traveling environment (such as a vehicle) by a driver of a moving object such as a vehicle ( It is possible to favorably support the recognition of the mobile environment.

  In addition, according to such a method, an object to be measured based on the wavelength information is extracted based on selection of a required wavelength image, and thus an image that requires processing time for a spectrum image to extract the object. There is no need to perform recognition processing. For this reason, it becomes possible to generate an environment image around the moving body in which high visibility is given to the target in a short time compared to the time required for the image recognition processing. As a result, as a spectrum measurement method, even when applied to a moving body, an environment image around the moving body can be generated in real time. That is, by displaying an image for favorably supporting the recognition of the driving environment by the driver or the like in real time, the recognition of the driving environment (moving environment) by the driver or the like can be supported in real time. .

The gist of a tenth aspect of the present invention is that, in the spectrum measurement method according to the ninth aspect, a plurality of wavelength images selected from the spectrum image are changed according to a measurement object.
According to such a method, since it is possible to select a wavelength image suitable for detection of various measurement objects, an environment image around the moving body that emphasizes the desired measurement object is generated based on the selected wavelength image. You will be able to As a result, a visible image that accurately supports recognition of one or more specific measurement objects can be provided to the driver or the like.

The block diagram which shows the schematic structure about 1st Embodiment which actualized the spectrum measuring device concerning this invention. It is a schematic diagram shown about the wavelength image which comprises the spectrum image measured with a spectrum sensor, Comprising: (a) is a figure of a standard visible image, (b)-(h) is wavelength 400nm, 500nm, 600nm, 700nm, respectively. , 800 nm, 900 nm, and 1000 nm light wavelength images. It is a schematic diagram explaining the production | generation of the environmental image by the spectrum measuring apparatus of the embodiment, Comprising: (a) is a figure which shows typically the wavelength image contained in a spectrum image, (b)-(d) was selected The figure which shows a wavelength image typically, (e) is a figure which shows an environment image typically. The flowchart which shows about the production | generation procedure of the environment image by the spectrum measuring device about 2nd Embodiment which actualized the spectrum measuring device concerning this invention. The block diagram which shows the schematic structure about 3rd Embodiment which actualized the spectrum measuring device concerning this invention. It is a schematic diagram explaining the production | generation of the environment image by the spectrum measuring apparatus of the embodiment, Comprising: (a)-(c) is left in the wavelength image selected for every measurement object, and its wavelength image (selected) ) A diagram schematically showing a region, and (d) a diagram schematically showing an environment image. The block diagram which shows the schematic structure about 4th Embodiment which actualized the spectrum measuring device concerning this invention. It is a schematic diagram explaining the production | generation of the environment image by the spectrum measuring apparatus of the embodiment, (a) is a figure which shows the reflectance of a measuring object, (b) is a figure which shows the spectrum of a 1st light source, (c) (A) is a figure which shows the spectrum of the measuring object under a 1st light source, (d) is a figure which shows the spectrum of a 2nd light source, (e) is a figure which shows the spectrum of the measuring object under a 2nd light source. The flowchart shown about the production | generation procedure of the environment image by the spectrum measuring apparatus of the embodiment. The block diagram which shows the schematic structure about 5th Embodiment which actualized the spectrum measuring device concerning this invention. The flowchart shown about the production | generation procedure of the environment image by the spectrum measuring apparatus of the embodiment. The block diagram which shows the schematic structure about 6th Embodiment which actualized the spectrum measuring device concerning this invention.

(First embodiment)
A first embodiment embodying a spectrum measuring apparatus according to the present invention will be described with reference to FIGS. FIG. 1 is a block diagram schematically showing the configuration of the spectrum measuring apparatus.

  As shown in FIG. 1, the spectrum measuring apparatus 10 is mounted on a vehicle 1 as a moving body such as an automobile. The vehicle 1 measures the spectrum image D outside the vehicle and outputs the environment image F created from the measured spectrum image D, and an image based on the environment image F output from the spectrum measurement device 10. Is displayed.

  The spectrum measurement device 10 includes a spectrum data acquisition device 11 that measures a spectrum image D, an image selection device 12 that constitutes an image processing unit that creates and outputs a selected wavelength image SE based on the spectrum image D, and an image selection device. A storage device 13 is provided which stores selection conditions used by the device 12 to create the selected wavelength image SE. In addition, the spectrum measuring apparatus 10 is provided with an image synthesizing apparatus 14 that constitutes an image processing unit that generates an environment image F from the selected wavelength image SE and outputs it to the image display apparatus 15.

  The spectrum data acquisition device 11 is a so-called spectrum sensor, and measures a spectrum image D in a measurement range outside the vehicle 1, for example, a range shown in the visible image 30 shown in FIG. The image D is output to the image selection device 12. The spectrum image D includes a plurality of wavelength information (wavelengths) λ (λ1 to λm: m is an integer different for each wavelength) and wavelength images E (E1) as images corresponding to the wavelength information λ. ~ Em). That is, the spectrum image D includes the number of wavelength images E as light images corresponding to specific wavelength information (wavelength) λ corresponding to the plurality of wavelength information λ1 to λm. Note that an image when the wavelength information λ is not particularly specified is simply indicated as a wavelength image E.

The image selection device 12 is a device that is configured mainly with a microcomputer having, for example, an arithmetic device or a storage device. The image selection device 12 is a device that selects a plurality of wavelength images E from the spectrum image D and generates a selected wavelength image SE composed of the selected plurality of wavelength images E. The image selection device 12 receives the spectrum image D measured by the spectrum data acquisition device 11, and the image selection device 12 outputs the generated selected wavelength image SE to the image synthesis device 14. Note that the image selection device 12 is connected to the storage device 13 consisting of all or a part of a storage area provided in a known storage device, so that the image selection device 12 stores in the storage device 13. The specified specific wavelength data 20 can be read out. In the specific wavelength data 20, selection conditions for selecting one or a plurality of wavelength images E that are suitable for detection of a measurement target, which are necessary for detection of the measurement target, from the spectrum image D are map data and the like. Is set. In the specific wavelength data 20, selection conditions are set for a plurality of measurement objects. In the image selection device 12, a measurement target to be detected as a measurement target to be recognized by the driver is set in advance or sequentially set from a separate device or the like. Thereby, the image selection device 12 acquires selection conditions suitable for detecting the measurement target from the specific wavelength data 20 according to the measurement target to be detected. Based on the selection conditions read in this way, the image selection device 12 selects a plurality of wavelength images E constituting the selected wavelength image SE from the spectrum image D.

  Similar to the image selection device 12, the image composition device 14 is a device configured mainly with a microcomputer having an arithmetic device, a storage device, and the like. The image composition device 14 generates an environment image F to be output to the image display device 15 from the selected wavelength image SE. When the selected wavelength image SE is input from the image selection device 12, the image composition device 14 performs processing for visible display on each of the plurality of wavelength images E included in the input selected wavelength image SE, and also displays these visible images. The respective wavelength images E subjected to the display processing are synthesized to generate one environment image F. Then, the image composition device 14 outputs the generated environment image F to the image display device 15.

  The image display device 15 is a car navigation device or the like, and displays an image provided to the driver of the vehicle 1 or the like. Accordingly, the image display device 15 receives the environment image F from the image composition device 14 and displays a visible image that is visible based on the input environment image F to provide it to the driver or the like.

Next, a process for generating the environment image F from the spectrum image D will be described.
First, the mode of the wavelength image included in the spectrum image D will be described. FIG. 2 is a diagram illustrating a wavelength image E included in the spectrum image D measured by the spectrum data acquisition device 11, wherein (a) is a schematic diagram of a standard visible image 30, and (b) to (h) ) Are schematic diagrams of wavelength images E of light having wavelengths of 400 nm (nanometers), 500 nm, 600 nm, 700 nm, 800 nm, 900 nm, and 1000 nm, respectively.

  The spectrum data acquisition device 11 measures the spectrum image D of the measurement range outside the vehicle 1 as shown in the visible image 30 of FIG. FIG. 2A shows a standard visible image 30 in the daytime. The visible image 30 includes a road surface 40 arranged on the lower side of the image and a front and rear 2 drawn on the left side of the road surface 40. The white lines 41 and 42 of the book and the broken white line 43 extending in the front-rear direction drawn on the right side of the road surface 40 are displayed. Further, the visible image 30 displays a mode in which a metal plate 44, two pedestrians 45, and three road signs 46 are arranged in a line on the left and right on the road surface 40 in the center of the image. In addition, a tree 47 and a sky 48 are displayed above the road surface 40 and above the tree 47, respectively.

  For example, as shown in FIGS. 2B to 2H, the spectrum image D includes a wavelength image E1 having wavelength information λ1 of 400 nm, a wavelength image E3 having wavelength information λ3 of 500 nm, and wavelength information λ5 of 600 nm. And a wavelength image E7 having wavelength information λ7 of 700 nm. The spectral image D includes a wavelength image E9 having wavelength information λ9 of 800 nm, a wavelength image E11 having wavelength information λ11 of 900 nm, and a wavelength image E13 having wavelength information λ13 of 1000 nm.

  In addition, since the reflectance with respect to a wavelength changes with measuring objects, in each wavelength image E, the image of each measuring object (40-48) is measured as an image of the light intensity according to the reflectance with respect to those wavelengths. . More specifically, in the wavelength image E1 having a wavelength of 400 nm, all measurement objects (40 to 48) are measured with low light intensity. That is, the wavelength image E1 is an image with low discrimination for all measurement objects (40 to 48).

In the wavelength image E3 with a wavelength of 500 nm, the two white lines 41 and 42, the broken white line 43, the metal plate 44, the face and legs of each pedestrian 45, each road sign 46 and the sky 48 are strong. Measured with light intensity, the road surface 40 is measured with moderate light intensity, while the tree 47 is measured with weak light intensity. That is, the wavelength image E <b> 3 is an image with high distinguishability with respect to the two white lines 41 and 42, the broken white line 43, and the metal plate 44. In addition, the road surface 40 is also an image having high discriminability as compared with other wavelength images E.

  In the wavelength image E5 with a wavelength of 600 nm, the metal plate 44, the face and legs of the pedestrian 45, and the road sign 46 are measured with strong light intensity, and the two white lines 41 and 42 and the broken white line 43 The sky 48 is measured with medium light intensity, while the road surface 40 and the tree 47 are measured with low light intensity. That is, the wavelength image E <b> 5 is an image with high identification about the metal plate 44, the face and legs of the pedestrian 45, and the road sign 46.

  In the wavelength image E7 having a wavelength of 700 nm, the metal plate 44, the face of the pedestrian 45, and some road signs 46 are measured with medium light intensity, while the road surface 40 and the two white lines 41, 42, the broken white line 43, the tree 47, and the sky 48 are measured with low light intensity. That is, the wavelength image E <b> 7 is an image having a medium level of discernibility with respect to the metal plate 44, the face of the pedestrian 45 and some road signs 46.

  In the wavelength image E9 having a wavelength of 800 nm, the metal plate 44, the pedestrian 45, and the tree 47 are measured with high light intensity, and the road sign 46 and the sky 48 are measured with medium light intensity, while the road surface 40, the two white lines 41 and 42, and the broken white line 43 are measured with low light intensity. That is, the wavelength image E <b> 9 is an image with high identification about the metal plate 44, the pedestrian 45, and the tree 47.

  In the wavelength image E11 having a wavelength of 900 nm, the metal plate 44, the pedestrian 45, and the tree 47 are measured with medium light intensity, while the road surface 40, the two white lines 41 and 42, and the broken white line 43 The road sign 46 and the sky 48 are measured with low light intensity. That is, the wavelength image E <b> 11 is an image having a medium level of distinguishability with respect to the metal plate 44, the pedestrian 45, and the tree 47.

  In the wavelength image E13 having a wavelength of 1000 nm, all measurement objects (40 to 48) are measured with low light intensity. That is, the wavelength image E <b> 13 is an image having low discrimination with respect to all the measurement targets (40 to 48).

  Next, a mode in which a plurality of wavelength images E are selected from the spectrum image D including the above-described wavelength image E will be described. FIG. 3 is a diagram schematically illustrating generation of the environment image F, where (a) is a schematic diagram of the wavelength image E included in the spectrum image D, and (b) to (d) are selected. It is a schematic diagram of the wavelength image E, (e) is a schematic diagram of the environment image F.

  In this embodiment, as shown in FIG. 3A, the spectrum image D includes 193 (λ1 to λ193) wavelength images E1 to E193 every 50 nm until the wavelength information λ is 400 nm to 10000 nm. That is, the spectrum image D includes a wavelength image E1 that is an image when the wavelength information λ1 is 400 nm, a wavelength image E2 that is an image when the wavelength information λ2 is 450 nm, and an image when the wavelength information λ193 is 10000 nm. And a wavelength image E193.

  The image selection device 12 acquires selection conditions suitable for detecting the measurement target from the specific wavelength data 20 according to the measurement target to be detected. For example, as illustrated in FIG. 3B, when the measurement target is the road surface 50, the image selection device 12 acquires the wavelength information λ <b> 3 (500 nm) as the selection condition from the specific wavelength data 20, whereby the spectrum image D To select a wavelength image E3 having wavelength information of 500 nm. The wavelength image E3 is an image having a relatively high discrimination with respect to the road surface 50.

  As shown in FIG. 3C, when the measurement target is the other vehicles 51 and 52, the image selection device 12 acquires the wavelength information λ53 to λ93 (3000 nm to 5000 nm) as the selection conditions from the specific wavelength data 20. By doing this, the wavelength images E53 to E93 corresponding to the wavelength information 3000 nm to 5000 nm are selected from the spectrum image D. Note that the wavelength images E53 to E93 are images having relatively high distinguishability with respect to engine heat and high-temperature metal.

  Furthermore, as shown in FIG. 3D, when the measurement object is a pedestrian 53, 54, the image selection device 12 obtains wavelength information λ9 (800 nm) as a selection condition, thereby obtaining a wavelength from the spectrum image D. A wavelength image E9 with information 800 nm is selected. Note that the wavelength image E9 is an image having a relatively high discriminating property on the body temperature of a pedestrian, particularly a pedestrian.

  That is, in the specific wavelength data 20, when the measurement target is the road surface 50, a selection condition for selecting the wavelength image E9 of the wavelength information λ3 (500 nm) is set. The specific wavelength data 20 is set with a selection condition for selecting the wavelength images E53 to E93 of the wavelength information λ53 to λ93 (3000 nm to 5000 nm) when the measurement target is the other vehicles 51 and 52. Furthermore, the specific wavelength data 20 is set with a selection condition for selecting the wavelength image E9 of the wavelength information λ9 (800 nm) when the measurement target is the pedestrians 53 and 54.

  In this way, the image selection device 12 selects, for example, a plurality of wavelength images E3, E53 to E93, E9 from the wavelength images E1 to E193 included in the spectrum image D based on the selection condition, and selects these. The plurality of wavelength images E3, E53 to E93, E9 are output to the image composition device 14 as the selected wavelength image SE. In addition, since the wavelength image E is selected according to the measurement object in this way, the measurement object to be detected can be reliably detected, and the measurement object not to be detected has high light intensity. By not selecting the wavelength image E, it can be excluded from the environment image F. As a result, the measurement object that the driver should correctly recognize is emphasized, while the object that the driver does not need to recognize can be made difficult to see.

  When the plurality of wavelength images E3, E53 to E93, E9 shown in FIGS. 3B to 3D are input as the selected wavelength image SE, the image composition device 14 receives the plurality of wavelength images E3, E53 to E3. Each of E93 and E9 is subjected to visible display processing. The process for visible display means that the wavelength image E is converted into information of an image having a wavelength and intensity suitable for display by the image display device 15, and an appropriate color is given to the measurement target included therein. This is a process of processing into an appropriate shape.

  That is, the image synthesizing device 14 converts the wavelength image E3 into a wavelength and intensity suitable for visible display, and here, since the measurement target is the road surface, a portion with a high light intensity in the wavelength image E3 is used as a road surface. The color is given or processed into the shape of the road surface. Further, the image composition device 14 converts the plurality of wavelength images E53 to E93 into one wavelength and intensity suitable for visual display, and here, since the measurement target is a vehicle, the wavelength images E53 to E93. The portion having a high light intensity is given a color as a vehicle or processed into the shape of the vehicle. Furthermore, the image synthesis device 14 converts the wavelength image E9 into a wavelength and intensity suitable for visual display, and here, since the measurement target is a pedestrian, the portion having a high light intensity in the wavelength image E9 is walking. Add a color as a pedestrian or process it into a pedestrian shape.

The image synthesizing device 14 generates an environment image F by synthesizing the display image that has been subjected to the visible display processing as described above. That is, the display surface 50 and the other vehicles 51 and 52 are superimposed on each other so that the road surface 50 to be measured, the other vehicles 51 and 52, and the pedestrians 53 and 54 do not disappear. And the pedestrians 53 and 54 are emphasized, and an environmental image F having high discrimination power is generated. For overlaying the display image, a known overlay method can be applied. For example, a method of averaging the light intensity of the overlay image or selecting the maximum value of the overlay image is applied. .

  In this way, the image composition device 14 does not extract the road surface, the vehicle, the pedestrian, or the like through an image recognition process that requires a calculation time based on a complicated algorithm, but extracts it by a simple process as described above. An image that is emphasized can be generated.

  Then, when the environmental image F is input to the image display device 15, an image based on the environmental image F is displayed on the image display device 15. The image display device 15 mainly displays an image based on the environmental image F in which the road surface 50, the other vehicles 51 and 52, and the pedestrians 53 and 54 are emphasized. An image with improved characteristics can be provided. As a result, it is possible to support the driver's recognition of the driving environment with the naked eye.

As described above, according to the spectrum measuring apparatus of the present embodiment, the effects listed below can be obtained.
(1) Since the environment image F around the vehicle 1 is generated by synthesizing the wavelength image E selected based on the required wavelength information λ, the environment image F is selected based on the wavelength selected as necessary. It is possible to generate an image with high visibility in which an image of a measurement target measured under the information λ is emphasized. As a result, the measurement target highlighted based on the selected wavelength information λ is displayed on the image display device 15 with high visibility. Therefore, the driving environment of the driver of the vehicle 1 or the like is displayed. Recognition of (mobile environment) can be favorably supported.

  (2) Since the measurement object measured by the wavelength information λ is extracted based on the selection of the required wavelength image E, the image recognition processing that requires processing time for the spectrum image D to extract the measurement object There is no need to apply. For this reason, it becomes possible to generate the environment image F around the vehicle 1 in which high visibility is given to the measurement object in a shorter time than the time required for the image recognition processing. As a result, the spectrum measuring apparatus 10 can generate the environment image F around the vehicle 1 in real time, even when mounted on the vehicle 1. That is, by displaying an image for favorably supporting the recognition of the driving environment by the driver or the like in real time, the recognition of the driving environment (moving environment) by the driver or the like can be supported in real time. .

  (3) Since a wavelength image E suitable for detection of various measurement objects can be selected, the environment image around the vehicle 1 that emphasizes the desired measurement object based on the selected wavelength image E, that is, the selected wavelength image SE. F can also be generated. As a result, a visible image that accurately supports recognition of one or more specific measurement objects can be provided to the driver or the like.

(Second Embodiment)
A second embodiment embodying the present invention will be described with reference to FIG.
The spectrum measurement apparatus 10 of the present embodiment is different from the first embodiment in the image composition processing performed by the image composition apparatus 14, but the other configurations are the same. Differences will be mainly described. For convenience of explanation, the same reference numerals are given to the same components and the description thereof is omitted.

The image selection device 12 of the present embodiment selects a plurality of wavelength images E that can generate a monochrome visible image and one or a plurality of wavelength images E that can suitably detect a measurement target. The selected wavelength image SE is generated. Then, the image selection device 12 outputs the generated selected wavelength image SE to the image composition device 14. For example, examples of the plurality of wavelength images E that can generate a monochrome visible image include all the wavelength images E in the visible light wavelength region and the wavelength images E of red, blue, and green wavelengths. The wavelength image E (measurement wavelength image Es) that can suitably detect the measurement target corresponds to an arbitrary wavelength in the visible light wavelength region and the invisible light wavelength region such as the infrared region and the ultraviolet region. Since it consists of one or a plurality of wavelength images E, in the present embodiment, it is assumed to be one wavelength image E corresponding to the wavelength in the infrared region.

  When the selected wavelength image SE is input from the image selection device 12, the image synthesis device 14 performs an image synthesis process according to the processing procedure shown in FIG. The image synthesizing device 14 generates a monochrome visible image based on a plurality of wavelength images E that can generate a monochrome visible image (step S10 in FIG. 4). The monochrome visible image is created by known image processing such as image processing that averages the light intensities of the plurality of wavelength images E that can generate a monochrome visible image. When a monochrome visible image is created, the image composition device 14 selects an operation target pixel (step S11 in FIG. 4). The operation target pixel is selected from the pixels of the monochrome visible image in order from the top, for example. When the operation target pixel is selected, the image synthesis device 14 calculates the intensity of the target pixel in the environment image F created by synthesizing the monochrome visible image and the measurement wavelength image Es (step S12 in FIG. 4). . The image composition device 14 calculates the light intensity of the operation target pixel in the environment image as the light intensity obtained by averaging the light intensity of the operation target pixel in the monochrome visible image and the light intensity of the operation target pixel in the measurement wavelength image Es. To do. When the light intensity of the operation target pixel is calculated, the image composition device 14 determines whether or not all the pixels have been selected (step S13 in FIG. 4). When it is determined that all the pixels have not been selected (NO in step S13 in FIG. 4), the image composition device 14 returns to step S11, selects the next operation target pixel, and performs the processing from step S11. . On the other hand, if it is determined that all the pixels have been selected (YES in step S13 in FIG. 4), the light intensity has been calculated for all the pixels in the environment image F. The process ends. Then, the generated environment image F is output from the image composition device 14 to the image display device 15, and an image based on the environment image F generated by the image composition device 14 is displayed on the image display device.

  As a result, an environment image in which one or more specific measurement objects are highly recognizable in the monochrome visible image is generated, so that one or more specific measurement objects in the monochrome visible image are displayed to the driver or the like. A visible image that accurately supports recognition can be provided.

  As described above, according to the present embodiment, effects equivalent to or equivalent to the effects (1) to (3) of the first embodiment can be obtained, and the effects listed below can be obtained. Be able to.

  (4) Since the environment image F in which the specific measurement object has high recognizability is created based on the monochrome visible image, the driver recognizes one or more specific measurement objects in addition to the monochrome visible image. It is possible to provide a visible image that accurately supports

(Third embodiment)
A third embodiment embodying the present invention will be described with reference to FIGS.
Note that the spectrum measuring apparatus 10 of the present embodiment is different from the first embodiment in that the image selecting apparatus 12 uses the specific part data 21 to exclude a part of the wavelength image E. Since the configuration and the like are the same, differences will be mainly described here. For convenience of description, the same reference numerals are given to the same configurations and the description thereof is omitted.

  As shown in FIG. 5, specific part data 21 is stored in the storage device 13. The specific part data 21 is data specifying a position (region) where the measurement target is arranged (appears) in the image for each measurement target. For example, when the measurement target is “sky”, the specific part data 21 has an inverted triangular shape on the upper side of the image as shown in FIG. 6A as a region where “sky” in the wavelength image E is dominant. The first specific area a is set. Further, when the measurement target is the “road surface”, the specific portion data 21 includes a triangular shape on the lower side of the image as shown in FIG. 6B as a region where the “road surface” in the wavelength image E is dominant. The second specific area b is set. Further, when the measurement target is “pedestrian” or the like, the specific part data 21 is a region in the wavelength image E where “pedestrian” or the like is likely to appear (appear) as shown in FIG. As shown in the figure, a third specific area c is set, which is composed of a triangular area with the left side of the image as the base toward the center of the image and a triangular area with the right side of the image as the base and toward the center of the image.

  When the spectral image D is input from the spectral data acquisition device 11, the image selection device 12 reads the specific wavelength data 20 stored in the storage device 13, and one or a plurality of wavelength images E suitable for detection of the measurement target. Is selected from the spectral image D. In the present embodiment, the image selection device 12 reads the specific part data 21 corresponding to the measurement target from the storage device 13 and selects the region set in the specific part data 21 from the selected wavelength image E. An area other than the area set in the specific part data 21 is excluded. For example, when selecting the wavelength image E3 of the wavelength information λ3 (500 nm) to detect “sky”, the image selection device 12 applies the first specific region a to the wavelength image E3, and FIG. As shown to a), the partial wavelength image E3a which selected (remained) the 1st specific area | region a from the wavelength image E3 is produced | generated. Further, when the image selection device 12 selects the wavelength image E3 of the wavelength information λ3 (500 nm) to detect the road surface, the image selection device 12 applies the second specific region b to the wavelength image E3, and FIG. As shown in FIG. 4, a partial wavelength image E3b in which the second specific region b is selected (remained) from the wavelength image E3 is generated. Further, when the image selection device 12 selects the wavelength image E9 of the wavelength information λ9 (500 nm) or the wavelength image E53 of the wavelength information λ53 (3000 nm) in order to detect a pedestrian, the image selection device 12 adds the wavelength information E9 and E53 to the wavelength images E9 and E53. 3 specific area c is applied. Then, as shown in FIG. 6C, partial wavelength images E9a and E53a in which the third specific region c is selected (remained) from the wavelength image E9 and the wavelength image E53 are generated. As a result, an image of a part suitable for detection of the measurement object in the image is selected, and the measurement object is more accurately emphasized in the part.

  Then, the image selection device 12 outputs the generated partial wavelength images E3a, E3b, E9a, and E53a to the image composition device 14 as the selection wavelength image SE. The image synthesizing device 14 performs image processing on each of the partial wavelength images E3a, E3b, E9a, and E53a included in the selected wavelength image SE so that the parts excluded from the images do not affect the synthesis. The environment image F is generated by combining the images. Thereby, since the environment image F is generated based on the image in which the measurement object is accurately emphasized, the measurement object is more accurately emphasized as the environment image F. Then, the image composition device 14 outputs the environment image F to the image display device 15.

  By displaying the environment image F, the image display device 15 can provide a visible image that accurately supports recognition of one or more specific measurement objects to the driver or the like.

  As described above, according to the present embodiment, effects equivalent to or equivalent to the effects (1) to (3) of the first embodiment can be obtained, and the effects listed below can be obtained. Be able to.

(5) Exclude from each wavelength image E the area where the measurement object to be detected is not imaged, in other words, only the area (first to third specific areas a to c) where the measurement object to be detected is imaged. Since the selection is made, it is possible to efficiently generate the environmental image F in which the measurement object to be detected is emphasized.

(Fourth embodiment)
A fourth embodiment embodying the present invention will be described with reference to FIGS.
The spectrum measuring apparatus 10 of the present embodiment is different from the first embodiment in that the light source spectrum estimating apparatus 16 is connected to the image selecting apparatus 12, but the other configurations are the same. For this reason, differences will be mainly described here, and for convenience of description, the same reference numerals will be given to the same components and the description thereof will be omitted.

  As shown in FIG. 7, the light source spectrum estimation device 16 is a device provided in the vehicle 1 for estimating the spectrum of light projected on the imaging region of the spectrum data acquisition device 11, for example, for each wavelength. Light reflected by a standard reflector having a known reflectance is detected, and the spectrum of the light source is estimated from the detected light. Alternatively, the light source spectrum estimation device 16 estimates the spectrum of the light projected on the imaging region by measuring the light above the vehicle 1, or the light source spectrum of the light source provided in the vehicle 1 is determined in advance. It may be set. Note that the light source includes a headlamp mounted on the vehicle 1, a projector for spectrum imaging, sunlight or street light that constitutes ambient light outside the vehicle 1, and the like. For example, as shown in FIG. 8, the light source spectrum estimation device 16 estimates the light source spectrum as shown in FIG. 8B for the first light source, while FIG. 8D shows the second light source. Assume that the light source spectrum as shown is estimated.

  In the specific wavelength data 20 of the storage device 13, for example, the reflectance P1 when the wavelength information is λx and the reflectance P2 when the wavelength information is λy are set as map data and the like as selection conditions for the measurement target A. .

  When the spectral image D for the measurement target A having the reflectivity as shown in FIG. 8A is input from the spectral data acquisition device 11, the image selection device 12 stores the specific wavelength data stored in the storage device 13. The selection condition is read from 20, and the spectrum of the light source estimated from the light source spectrum estimation device 16 is acquired. The image selection device 12 applies the estimated light source spectrum to the selection condition corresponding to the measurement target A, and calculates the light intensity (spectrum intensity) for each wavelength information included in the selection condition. Then, the image selection device 12 obtains wavelength information having the highest intensity from the calculated light intensities, and selects a wavelength image corresponding to the wavelength information. That is, when the first light source illuminates the measurement target A with light having the spectrum shown in FIG. 8B, the light intensity of the measurement target A is estimated as shown in FIG. The image selection device 12 selects the wavelength image Ex (light source corresponding wavelength image Ez) corresponding to the wavelength information λx in order to emphasize the measurement object A. For example, when the second light source illuminates the measurement target A with light having the spectrum shown in FIG. 8D, the light intensity of the measurement target A is estimated as shown in FIG. The image selection device 12 selects the wavelength image Ey (the light source corresponding wavelength image Ez) corresponding to the wavelength information λy in order to emphasize the measurement object A. As a result, a wavelength image E appropriate for enhancing the measuring object A is selected from the spectrum image D, and the measuring object A is accurately emphasized.

Then, the image selection device 12 outputs the selected wavelength image SE including the selected light source corresponding wavelength image Ez to the image synthesis device 14. The image synthesizing device 14 performs image processing on each of the light source corresponding wavelength images Ez included in the selected wavelength image SE and synthesizes them to generate an environment image F. As a result, the environment image F is generated based on the light source-corresponding wavelength image Ez in which the measurement object A is accurately emphasized, so that the measurement object A is more accurately emphasized as the environment image F. Then, the image composition device 14 outputs the environment image F to the image display device 15.

By displaying the environment image F, the image display device 15 can provide a visible image that accurately supports the recognition of the specific measurement object A to the driver or the like.
Next, the procedure in which the image selection device 12 creates the selected wavelength image SE will be described with reference to FIG.

  When the spectrum image D is input from the spectrum data acquisition device 11, the image selection device 12 performs a wavelength image selection process corresponding to the light source spectrum by the processing procedure shown in FIG.

  As shown in FIG. 9, when the wavelength image selection process corresponding to the light source spectrum is started, the image selection device 12 acquires the light source spectrum estimated by the light source spectrum estimation device 16 (step S20 in FIG. 9). Then, the measurement target A is selected and the selection condition for the measurement target A is acquired (step S21 in FIG. 9). The image selection device 12 estimates the spectrum intensity of the measuring object A based on the estimated light source spectrum and the selection condition (step S22 in FIG. 9), and then calculates the intensity of the spectrum from the estimated spectrum intensity. Is calculated and stored (step S23 in FIG. 9). Then, it is determined whether or not all predetermined measurement objects have been selected (step S24 in FIG. 9). If it is determined that all measurement objects have not been selected in advance (NO in step S24 in FIG. 9), the image selection device 12 returns to step S21 to select a new measurement object and select the selected measurement. The wavelength image selection for the object is performed by the procedure after step S21. On the other hand, when it is determined that the wavelength images E for all the predetermined measurement targets have been selected (YES in step S24 in FIG. 9), the image selection device 12 selects the wavelength image E corresponding to the stored wavelength information. Then, the selected wavelength image SE composed of these wavelength images E is output to the image composition device 14 (step S25 in FIG. 9).

Then, the image composition device 14 outputs the environment image F created based on the input selected wavelength image SE to the image display device 15, and the image display device 15 displays the environment image F.
As described above, according to the present embodiment, effects equivalent to or equivalent to the effects (1) to (3) of the first embodiment can be obtained, and the effects listed below can be obtained. Be able to.

  (6) Since the wavelength image E is selected in consideration of the light source spectrum that is the wavelength information included in the environmental light, the image of the measurement target based on the environmental light (light source spectrum) that is mainly reflected by the measurement target Can be detected efficiently. That is, this makes it possible to efficiently generate an environmental image that emphasizes the measurement target.

  (7) For example, when a headlamp mounted on the vehicle 1 or a projector for spectrum imaging is used as a light source, the wavelength image E is selected in consideration of wavelength information (light source spectrum) included in the light source. It becomes possible to efficiently detect an image of a measurement object that reflects light having a wavelength included in the light source. That is, it becomes possible to efficiently generate an environmental image in which the measurement target is emphasized in this way.

(Fifth embodiment)
A fifth embodiment embodying the present invention will be described with reference to FIGS.
Note that the spectrum measuring apparatus 10 of the present embodiment differs from the previous first embodiment in that the image selecting apparatus 12 is omitted and the image synthesizing apparatus 14 is provided with a contrast adjusting unit 17. Other configurations are the same. For this reason, the difference will be mainly described here, and for convenience of explanation, the same reference numerals will be assigned to the same components and the description thereof will be omitted.

  As shown in FIG. 10, in the spectrum measuring apparatus 10, the spectrum image D measured by the spectrum data acquiring apparatus 11 is input to an image synthesizing apparatus 14 as an image processing unit, and the image synthesizing apparatus 14 receives the input spectrum image D. The environmental image F is generated based on the above. The image composition device 14 is provided with a contrast adjustment unit 17. The contrast adjustment unit 17 for each of the wavelength images E1 to Em included in the spectrum image D, the light intensity of the entire wavelength image E so that the maximum light intensity in the wavelength image E is a predetermined intensity. It is to adjust the strength of.

  More specifically, for example, when there are two different measurement objects, one of the first measurement objects B strongly responds to the first wavelength information λb, and therefore corresponds to the first wavelength information λb. The first wavelength image Eb is shown with strong light intensity. On the other hand, the second measurement target C different from the first measurement target B is strongly sensitive to the second wavelength information λc different from the first wavelength information λb. The corresponding second wavelength image Ec is shown with strong light intensity. At this time, the light intensity of the first measurement object B in the first wavelength image Eb and the light intensity of the second measurement object C in the second wavelength image Ec are not always at the same level. For this reason, when the environment image F is created simply by synthesizing the first wavelength image Eb and the second wavelength image Ec, the first measurement object B and the second measurement object are added to the environment image F. C may be displayed with a different light intensity, and one of the measurement objects may not be noticeable.

  Therefore, the contrast adjustment unit 17 makes the light intensity of the first measurement object B of the first wavelength image Eb equal to the light intensity of the second measurement object C of the second wavelength image Ec. The contrast of the first wavelength image Eb and the second wavelength image Ec is adjusted. For the contrast adjustment, a general known method such as histogram averaging can be used. Thereby, in the generated environment image F, the first measurement object B and the second measurement object C have the same light intensity, and therefore the first measurement object B and the second measurement object C are respectively Since the image is enhanced equally, an image having a pseudo high dynamic range can be generated.

  Specifically, for example, when the traveling environment of the vehicle 1 is in a tunnel where the exit can be seen, the spectrum image D captures the inside of the tunnel illuminated by the tunnel illumination and the outside of the tunnel illuminated by sunlight. Is done. At this time, if a general visible image camera matches the illuminance in the tunnel with the illuminance in the tunnel, the exit part of the tunnel will be crushed in white, while if the illuminance in the tunnel is matched with the illuminance of sunlight, the inside of the tunnel will be crushed in black. . Therefore, a first wavelength image Eb corresponding to a strong wavelength (for example, 700 nm) that is weak in sunlight and a strong wavelength (for example, 700 nm) in the tunnel, and a second wavelength image Ec that is weak in the tunnel and corresponding to a strong wavelength (for example, 1000 nm) in the tunnel. And the contrasts of the first and second wavelength images Eb and Ec are respectively adjusted. As a result, the first wavelength image Eb becomes an image with high identification inside the tunnel, and the second wavelength image Ec becomes an image with high identification outside the tunnel. Therefore, as the environment image F, the inside of the tunnel and the exit of the tunnel are obtained. In any case, it becomes possible to generate an image with high discrimination.

As a result, it becomes possible to suitably provide the driver or the like with support for recognition of each of the first measurement object B and the second measurement object C.
Next, the procedure in which the image composition device 14 creates the environment image F will be described with reference to FIG.

When the spectrum image D is input from the spectrum data acquisition device 11, the image composition device 14 performs image composition processing for adjusting the contrast of each wavelength image E and generating the environment image F by the processing procedure shown in FIG. 11. .

  As shown in FIG. 11, when the image composition process is started, the image composition device 14 acquires the spectrum image D input from the spectrum data acquisition device 11 (step S30 in FIG. 11) and performs contrast adjustment. A wavelength image E is selected (step S31 in FIG. 11). The image composition device 14 increases the contrast of the wavelength image E of the selected wavelength information (target wavelength) λ (step S32 in FIG. 11). Then, it is determined whether or not the wavelength image E corresponding to all the wavelength information λ has been selected (step S33 in FIG. 11). If it is determined that all the wavelength images E have not yet been selected (NO in step S33 in FIG. 11), the image composition device 14 returns to step S31 and selects the wavelength image E that has not yet been increased in contrast. The contrast of the selected wavelength image E is increased by the procedure after step S31. On the other hand, if it is determined that all the wavelength images E have been selected (YES in step S33 in FIG. 11), the image composition device 14 creates an environment image F that is an average value of all the images with high contrast (FIG. 11). 11 step S34). Then, the image composition device 14 outputs the created environment image F to the image display device 15, and the environment image F is displayed by the image display device 15.

  As described above, according to the present embodiment, effects equivalent to or equivalent to the effects (1) to (3) of the first embodiment can be obtained, and the effects listed below can be obtained. Be able to.

  (8) The environment image F is generated after the contrast that differs for each wavelength image E is adjusted to a contrast suitable for synthesis. For example, for the first measurement object B and the second measurement object C that are two measurement objects, the first measurement object B in the first wavelength image Eb and the second measurement in the second wavelength image Ec. Tampering with the light intensity of the target C does not always have the same level of intensity. Therefore, by adjusting the contrast of the first wavelength image Eb and the second wavelength image Ec so that the light intensities of the measurement objects of the first and second wavelength images Eb and Ec are equal, the environmental image is obtained. In F, the first measurement object B and the second measurement object C are displayed with the same light intensity, and the visibility of each measurement object is suitably ensured.

(Sixth embodiment)
A sixth embodiment embodying the present invention will be described with reference to FIG.
Note that the spectrum measuring apparatus 10 of the present embodiment is different from the first embodiment in that the environment information acquisition apparatus 18 is connected to the image selection apparatus 12, but the other configurations are the same. For this reason, differences will be mainly described here, and for convenience of description, the same reference numerals will be given to the same components and the description thereof will be omitted.

  As shown in FIG. 12, the environment information acquisition device 18 as an environment determination device is a device provided in the vehicle 1 for acquiring the traveling environment of the vehicle 1. It is determined whether the environment is an urban area, a country road, or a highway. The environment information acquisition device 18 may determine the type of the driving environment based on, for example, the captured image captured by the imaging device, or may determine the type of the driving environment based on the map information of the car navigation and the current position of the vehicle 1. You may judge.

When the spectrum image D is input from the spectrum data acquisition device 11, the image selection device 12 acquires the type of travel environment from the environment information acquisition device 18 and selects a measurement target to be detected in the acquired travel environment. . And the selection conditions for detecting the selected measuring object are read from the specific wavelength data 20 stored in the storage device 13, and the wavelength image E is selected from the spectrum image D based on the read selection conditions. Thereby, the wavelength image E suitable for emphasizing the measurement object to be recognized in the traveling environment is selected from the spectrum image D, and the measurement object to be recognized can be accurately emphasized. .

  Then, the image selection device 12 outputs a selected wavelength image SE based on the selected wavelength image E to the image composition device 14. The image composition device 14 generates the environment image F based on the selected wavelength image SE. Thereby, since the environment image F is generated based on the selected wavelength image SE including the wavelength image E in which the measurement object to be recognized is accurately emphasized, the measurement object is also more accurately emphasized as the environment image F. Become. Then, the image composition device 14 outputs the environment image F to the image display device 15.

By displaying the environment image F, the image display device 15 can provide a visible image that accurately supports the recognition of the specific measurement object A to the driver or the like.
As described above, according to the present embodiment, effects equivalent to or equivalent to the effects (1) to (3) of the first embodiment can be obtained, and the effects listed below can be obtained. Be able to.

  (9) Since the wavelength image E to be selected is changed in consideration of the type of traveling environment, the environment image F with high recognition of the measurement target can be efficiently obtained according to the traffic environment in each case. Can do.

In addition, the said embodiment can also be implemented with the following aspects.
In each of the above embodiments, the case where the storage device 13 is included in the spectrum measurement device 10 has been illustrated. However, the present invention is not limited to this, and the storage device may be provided outside the spectrum measurement device and connected by, for example, an in-vehicle network. Thereby, the freedom degree of the structure as a spectrum measuring apparatus is raised.

  In each of the above embodiments, an environment image based on a color image may be generated so that the selection wavelength image SE includes images corresponding to red, green, and blue wavelengths. At this time, a wavelength image corresponding to at least one wavelength of 625 to 740 nm is selected as a red image, and a wavelength image corresponding to at least one wavelength of 500 to 565 nm is selected as a green image. As a blue image, a wavelength image corresponding to at least one wavelength of 450 to 485 nm may be selected. Thereby, an environmental image based on a color image can be provided to a driver or the like.

  In the fifth embodiment, the case where the contrast adjusting unit 17 adjusts the contrast of each wavelength image E is illustrated. However, the present invention is not limited to this, and the contrast adjusting unit has the highest contrast between the pixels at the same position among the plurality of wavelength images selected from the spectrum image and the surrounding pixels of the pixel. You may make it select the pixel which has light intensity, and synthesize | combines those selected pixels and produces | generates an environmental image.

  According to this, since pixels of light intensity having high contrast with the surroundings are selected from each wavelength image, it is possible to obtain an environment image obtained by combining these pixels as an image as a high contrast image. Become. Thereby, a driver's etc. can be provided with an image with high visibility of a measuring object.

In the fifth embodiment, the case where the image composition device 14 generates the environment image F from the spectrum image D measured by the spectrum data acquisition device 11 has been illustrated. However, the present invention is not limited to this, and the spectrum measurement device is provided with the image selection device described in the first embodiment, and the image synthesis device generates an environment image based on the selected wavelength image selected by the image selection device. Also good. As a result, the degree of design freedom regarding the creation of the environmental image is increased. In addition, the amount of calculation related to the image composition process can be reduced.

  In the fourth embodiment, the image selection device 12 increases the light intensity of the measurement target A under the light source spectrum from the selection conditions for the measurement target A and the light source spectrum estimated from the light source spectrum estimation device 16. The case of calculating a wavelength image has been illustrated. However, the present invention is not limited to this, and the image selection device may select a wavelength image suitable for detection of the measurement target in the light source estimated by the light source spectrum estimation device. In this case, a selection condition corresponding to the estimated light source may be set in the specific wavelength data according to the measurement target. For example, if the light source is sunlight, a wavelength image appropriate for detection under sunlight is selected for each measurement target (pedestrian, vehicle, road surface, etc.). If the light source is a street light lamp, a wavelength image suitable for detection under the lamp is selected for each measurement target (pedestrian, vehicle, road surface, etc.). Thereby, the mode of selection of the wavelength image when the light source spectrum is used is expanded.

  In the third embodiment, the partial wavelength image E3a is generated by applying the first specific region a to the wavelength image E3, and the partial wavelength image E3b is generated by applying the second specific region b. The case was illustrated. However, the present invention is not limited to this, and when a plurality of specific regions are applied to the same wavelength image, a combined region obtained by combining a plurality of specific regions applied to the same wavelength image is applied to the wavelength image. May be. Referring to FIG. 6 as an example, since the same wavelength image E3 is used to detect “sky” and “road surface”, the first specific region a for detecting “sky” and “road surface” are detected. Alternatively, a combined region obtained by combining the second specific region b to be applied may be applied to the wavelength image E3 to obtain a combined partial wavelength image and include it in the selected wavelength image SE. That is, the combined partial wavelength image is obtained as a part of the partial wavelength image E3a corresponding to the second specific region b replaced with the second specific region b of the partial wavelength image E3b. Thereby, the freedom degree of application of the specific area | region with respect to the wavelength image E comes to be raised.

  In each of the above embodiments, the case where the specific wavelength data 20 (selection condition) is stored in the storage device 13 as map data is illustrated. However, the present invention is not limited to this, and the specific wavelength data (selection condition) may be stored in a form such as a list. This increases the degree of freedom for setting the selection conditions.

  In each of the above embodiments, the case where the specific wavelength data 20 (selection condition) is stored in the storage device 13 is illustrated. However, the present invention is not limited to this, and the specific wavelength data (selection condition) may be stored in the image selection device.

  In the first to fourth and sixth embodiments, the case where the image selection device 12 and the image composition device 14 that constitute the image processing unit are different devices has been illustrated. However, the present invention is not limited to this, and the image selection device and the image composition device may be configured as one device. Thereby, the freedom degree of a structure of an image process part comes to improve.

  In each of the above embodiments, the case where one 500 nm wavelength image E3 is used for road surface detection is illustrated. However, the present invention is not limited to this, and a wavelength image other than the 500 nm wavelength image (for example, 700 nm or 800 nm) may be used for road surface detection. Alternatively, a plurality of wavelength images (for example, 500 nm, 700 nm, and 800 nm) may be used for road surface detection. As a result, an image that accurately emphasizes the measurement object can be generated according to the situation of the measurement object.

In addition, the number of wavelength images and wavelength information values used for detection of pedestrians, the number of wavelength images and wavelength information values used for vehicle detection, the number of wavelength images and wavelength information values used for sky detection, etc. Also, the number of wavelength images may be one or plural, and the value of wavelength information can be arbitrarily selected from the wavelength information measured by the spectrum data acquisition device.

  In each of the above embodiments, the case where the image display device 15 is provided in the vehicle 1 is exemplified, but the present invention is not limited thereto, and the image display device may be provided outside the vehicle. In this case, by transmitting the environment image generated by the spectrum measurement device to the outside of the vehicle by wireless communication or the like, the environment image created by the spectrum measurement device can be displayed even outside the vehicle. . For example, in the case of a mobile body that is operated remotely, recognition of the driving environment by the driver is favorably supported. Thereby, the adoption possibility of such a spectrum measuring apparatus comes to be improved.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10 ... Spectrum measuring device, 11 ... Spectral data acquisition device, 12 ... Image selection device, 13 ... Storage device, 14 ... Image composition device, 15 ... Image display device, 16 ... Light source spectrum estimation device, 17 ... Contrast Adjustment unit, 18 ... environmental information acquisition device, 20 ... specific wavelength data, 21 ... specific part data, 30 ... visible image, 40 ... road surface, 41,42 ... white line, 43 ... breaking white line, 44 ... metal plate, 45 ... walking 46 ... road sign, 47 ... tree, 48 ... sky, 50 ... road surface, 51, 52 ... other vehicles, 53, 54 ... pedestrian, A ... measurement object, D ... spectral image, E, E1-E193, E1 ~ Em, Eb, Ec, Ex, Ey ... wavelength image, E3a, E3b, E9a, E53a ... partial wavelength image, F ... environmental image, SE ... selected wavelength image, [lambda], [lambda] 1- [lambda] 193, [lambda] 1- [lambda] m, [lambda] b, [lambda] , Λx, λy ... wavelength information.

Claims (10)

A spectrum measurement device that generates a spectrum image based on a plurality of wavelength information measured by a spectrum sensor mounted on a moving body and a wavelength image corresponding to each of the wavelength information,
A plurality of wavelength images required from the spectrum image are selected, and the selected plurality of wavelength images are combined to generate an environment image around the moving body, and the generated environment image is displayed on a display device. A spectrum measuring apparatus comprising: an image processing unit that causes the image processing unit to operate. The spectrum measurement device according to claim 1, wherein the image processing unit changes a plurality of wavelength images selected from the spectrum image according to a measurement target. The spectrum measurement apparatus according to claim 1, wherein the image processing unit determines a plurality of wavelength images selected from the spectrum image in consideration of wavelength information included in ambient light outside the moving body. The moving body projects light of a light source mounted on the moving body to a measurement range of the spectrum sensor,
The spectrum measurement apparatus according to claim 1, wherein the image processing unit determines a plurality of wavelength images selected from the spectrum image in consideration of wavelength information included in light of the light source. The spectrum measurement apparatus according to any one of claims 1 to 4, wherein the image processing unit adjusts the contrast of each of a plurality of wavelength images selected from the spectrum image and performs the synthesis process. The image processing unit is a pixel having a light intensity at which a contrast with a pixel around the pixel is the highest among pixels at the same position among a plurality of wavelength images selected from the spectrum image. The spectrum measurement apparatus according to claim 1, wherein an environment image around the moving body is generated by combining the selected pixels as an image. The spectrum measurement device according to any one of claims 1 to 6, wherein the image processing unit excludes a part of the wavelength image from the wavelength image selected from the spectrum image. The mobile body has a function of determining the type of traveling environment by an environment discrimination device mounted on the mobile body,
The spectrum measurement device according to claim 1, wherein the image processing unit determines a plurality of wavelength images selected from the spectrum image in consideration of the determined type of traveling environment. A spectrum measurement method for generating a spectrum image based on a plurality of wavelength information measured by a spectrum sensor mounted on a moving body and a wavelength image corresponding to each of the wavelength information,
A plurality of wavelength images required from the spectrum image are selected, and the selected plurality of wavelength images are combined to generate an environment image around the moving body, and the generated environment image is displayed on a display device. A spectral measurement method characterized by: The spectrum measurement method according to claim 9, wherein a plurality of wavelength images selected from the spectrum image are changed according to a measurement target.

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