JP2012052852A - Image display device and navigation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image display device that extracts an image of a moving body in a direction of travel from a picked-up image and displays the image with a simple configuration, and a navigation device.SOLUTION: An image display device of the present invention includes: image pickup means that is provided on a moving body and picks up images including an image of the moving body in a direction of travel; reference position specifying means that specifies a reference position that indicates the direction of travel in the picked-up image; image extracting means that extracts an image in a predetermined range with the reference position as a reference; and image display means that displays the extracted image.

Description

  The present invention relates to an image display device and a navigation device, and in particular, an image including an image in a traveling direction of a moving body is captured by an imaging unit provided in the moving body, and an image in a predetermined range in the traveling direction is extracted from the image. The present invention relates to an image display device and a navigation device.

  Various devices have been proposed in which an imaging unit is mounted on a moving body, for example, a vehicle, an image outside the vehicle is captured using the imaging unit, the image is processed and displayed on a monitor inside the vehicle, and the vehicle is supported. ing. For example, an imaging device disposed in front of the vehicle picks up an infrared image in front and displays it on a monitor so that the user can check the position of a pedestrian that is difficult for the user to see when traveling at night. The rear image captured by the disposed image capturing means is displayed on the monitor, the device that supports the rearward confirmation when backing, the left and right images are captured by the image capturing means disposed on the left and right front fenders of the vehicle, and the image is displayed on the monitor Devices that display and support left-right confirmation at intersections have been put into practical use.

  On the other hand, as a means of supporting vehicle travel, the current position of the vehicle is detected using a Global Navigation Satellite Systems (GNSS) represented by GPS (Global Positioning System) and monitored together with map information. In addition, a navigation device is known that guides the user to the destination by searching for the route from the current position or the departure point to the destination and displaying it on a monitor.

  Therefore, the image pickup means and the navigation device used in each of the above-described support devices are connected, and the route searched by the navigation device is superimposed on the image in the traveling direction picked up by the image pickup means and displayed on the monitor. For example, route guidance that is easier to understand can be performed based on an actual image.

  By the way, the navigation device includes a portable device called a “portable navigation device” which is configured to be detachable from a moving body. In the case of such a portable navigation device, signal processing is required between the portable navigation device and the image pickup means in order to acquire image information from the image pickup means previously mounted on the vehicle. There is a drawback that the configuration of the means and the like is complicated. Therefore, if the image pickup means is mounted and integrated in the portable navigation device, the above problem can be solved.

  However, since the portable navigation device may be attached to the vehicle at an arbitrary angle, for example, by directing the monitor toward the driver, when the imaging means is integrated with the portable navigation device, the imaging range is left or right or There is a risk that the image in the traveling direction cannot be captured correctly due to the vertical displacement.

  In this case, the imaging means can be configured to be movable with respect to the portable navigation device, or the imaging means can be configured separately from the portable navigation device so as not to depend on the orientation of the monitor, but the configuration becomes complicated. There is a problem that the cost is greatly increased. It is also conceivable that a wide-angle lens is attached to the imaging means so that a wide range of images in the front can be captured regardless of the mounting position of the portable navigation device. However, if the angle of view is widened, not only the necessary forward image but also many unnecessary parts such as the dashboard of the vehicle and the side mirror will be included. It is not suitable for the original purpose of supporting.

  As a technique that can be used to solve these problems, there is a “vehicle periphery visual recognition device” disclosed in the following Patent Document 1 (Japanese Patent Laid-Open No. 2003-179915). This device captures images in the left-right direction by imaging means having wide-angle lenses disposed on the left and right front fenders of the vehicle, extracts a plurality of straight lines corresponding to the center line and roadside from each image, and extracts these straight lines. A vanishing point that is an intersection is obtained, and a region in a predetermined range centered on the vanishing point is extracted from the image and enlarged to display the left and right road conditions intersecting with the vehicle's runway.

  In addition, as another technique that can be used to solve the above problem, there is an “object detection device” disclosed in Patent Document 2 (Japanese Patent Laid-Open No. 2008-257378). This device captures a time-series image around the vehicle by an imaging means mounted on the vehicle, obtains a moving vector of a stationary object from each image, calculates a vanishing point that is a generation point from the moving vector of the stationary object, and A caution area in which an obstacle that is a moving object other than the host vehicle may exist is set based on the points, and the presence or absence of the obstacle is detected based on a movement vector in the caution area.

JP 2003-179915 A (paragraphs [0012] to [0014], [0022] to [0025]) JP 2008-257378 A (paragraphs [0023], [0038], [0042], [0061])

  However, the above-mentioned patent document 1 extracts the images of the left and right roads at the intersection, and does not extract the image of the traveling direction of the vehicle. Also, the vanishing point cannot be obtained if there is no center line or road side that forms a straight line in the image.

  On the other hand, in Patent Document 2, the vanishing point in the traveling direction can be obtained even when there is no center line or the like in the image. However, Patent Document 2 sets a caution area on the basis of the vanishing point, detects the presence or absence of an obstacle in the caution area, and cuts and displays an image in the traveling direction from the captured image. It is not a thing. In the case of Patent Document 2, since extra items such as a dashboard and a vehicle side mirror are displayed in the displayed image, it is difficult to provide easy-to-understand route guidance using these images.

  An object of the present invention is to solve the above-mentioned problems, and without moving the direction of the image pickup means provided in the moving body, the moving body advances from the captured image with a simple configuration. An object of the present invention is to provide an image display device capable of extracting and displaying an image including a direction image.

  It is another object of the present invention to provide a navigation device that can extract and display an image in the traveling direction of a moving body from a captured image and perform easy-to-understand route guidance.

  In order to solve the above-mentioned problem, the invention according to claim 1 of the present application is provided in a moving body, and includes an imaging unit that captures an image including an image in a traveling direction of the moving body, and the image in the captured image. Reference position specifying means for specifying a reference position representing the traveling direction, image extracting means for extracting an image of a predetermined range based on the reference position from the captured image, and an image for displaying the extracted image And a display means.

  The invention according to claim 2 of the present application is the image display device according to claim 1, wherein the imaging unit captures a time-series image, and the reference position specifying unit includes the captured time-series image. The movement vector is calculated based on the movement vector, and the reference position is specified from the movement vector.

  The invention according to claim 3 of the present application is the image display device according to claim 1, further comprising an attachment angle detection unit that detects an attachment angle of the image display device with respect to the moving body, and the reference position specifying unit includes: The reference position is specified from the detected mounting angle.

  According to a fourth aspect of the present invention, in the image display device according to any one of the first to third aspects, the imaging unit is configured integrally with the image display device, and the image display device is It is characterized by being installed detachably with respect to the moving body.

  The invention according to claim 5 of the present application is the image display device according to any one of claims 1 to 4, wherein the image display means displays the extracted image in an enlarged manner. And

  The invention according to claim 6 of the present application is a route search means for searching for a route to a destination based on map information, and an image pickup means for picking up an image including an image of the moving direction of the mobile object provided in the mobile object. And a reference position specifying means for specifying a reference position representing the traveling direction in the captured image, and an image extracting means for extracting an image in a predetermined range based on the reference position from the captured image. And an image display means for displaying the extracted image together with the route.

  The invention according to claim 7 of the present application is the navigation device using the image display device according to claim 6, wherein the imaging means is configured integrally with the navigation device, and the navigation device is the moving body. It is characterized in that it is installed detachably with respect to.

  In the invention according to claim 1, an imaging unit that is provided in the moving body and that captures an image including an image in the traveling direction of the moving body, and a reference position that represents the traveling direction in the captured image are specified. Reference position specifying means, image extraction means for extracting an image of a predetermined range based on the reference position from the captured image, and image display means for displaying the extracted image.

  With this configuration, it is not necessary to adjust the direction of the imaging means installed on the moving body, and an image in the traveling direction of the moving body can be extracted from the captured image and displayed. Since an adjustment mechanism for the position of the imaging means is not required, an inexpensive image display apparatus can be provided with a simple configuration.

  In the invention according to claim 2, in the invention according to claim 1, it is possible to calculate a movement vector from a time-series image picked up by the image pickup means, and to specify a reference position from this movement vector.

  In the invention according to claim 3, in the invention according to claim 1, the reference position can be specified by detecting the attachment angle of the image display device with respect to the moving body by the attachment angle detection means.

  According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the image display device including an image pickup unit configured integrally with the image display device is detachable from the moving body. It can be.

  In the invention concerning Claim 5, in the invention of any one of Claims 1-4, the extracted image of the advancing direction can be expanded and displayed on an image display means.

  In the invention concerning Claim 6, based on map information, the route search means which searches for the route to the destination, The imaging means with which the moving body is provided, and the image containing the image of the advancing direction of the said moving body is imaged A reference position specifying means for specifying a reference position representing the traveling direction in the imaged image, and an image extracting means for extracting an image in a predetermined range based on the reference position from the imaged image. Image display means for displaying the extracted image together with the route.

  By configuring in this way, it is not necessary to adjust the direction of the imaging means installed on the moving body, and the moving direction of the moving body is extracted from the captured image and the searched paths are superimposed Can be displayed on the image display means to provide easy-to-understand route guidance. Therefore, the user can easily move toward the destination based on the displayed image of the traveling direction and the route.

  In the invention according to claim 7, in the invention according to claim 6, the navigation device and the image pickup means are integrally formed, and the navigation device can be attached to and detached from the moving body.

It is explanatory drawing of the mobile body by which the navigation apparatus concerning Example 1 of this invention is mounted. It is a block diagram of the navigation apparatus concerning Example 1 of the present invention. It is a process flowchart of the navigation apparatus shown in FIG. It is explanatory drawing of the captured image containing the image of the advancing direction of the moving body imaged with the imaging means with which the navigation apparatus shown in FIG. 2 is provided. It is explanatory drawing of the image of the predetermined range containing the image of the advancing direction of the moving body extracted from the image shown in FIG. It is a block diagram of the navigation apparatus concerning Example 2 of this invention.

  Hereinafter, specific examples of the present invention will be described in detail with reference to examples and drawings. However, the embodiments described below are described by exemplifying an image display device for embodying the technical idea of the present invention and a navigation device using the image display device. The present invention is not intended to be specified as a navigation device using the above-described technology, and can be equally applied to other image display devices and navigation devices using the same without departing from the technical idea shown in the claims. .

  FIG. 1 is an explanatory diagram of a vehicle 2 that is a moving body on which the navigation device according to the first embodiment of the present invention is mounted.

  The vehicle 2 traveling in the traveling direction 4 is provided with a navigation device 10 for guiding the current position of the vehicle 2 and the route to the destination and displaying an image in the direction of the traveling direction 4 of the vehicle 2. The

  The navigation device 10 is a so-called portable navigation device configured to be detachable from the vehicle 2, and includes an imaging unit such as a CCD camera described later that captures an image including an image in the direction of travel 4. The imaging direction 6 of the image including the direction of the traveling direction 4 by the imaging unit is assumed to deviate from the traveling direction 4 by an angle θ corresponding to the installation state of the navigation device 10 with respect to the vehicle 2. The image in the direction of travel 4 is an image in a predetermined range with reference to a reference position described later. In the following description, an image including an image in the direction of the traveling direction 4 is expressed as an image including the traveling direction 4.

  FIG. 2 is a block diagram of the navigation device 10 according to the first embodiment. The navigation apparatus 10 includes a control unit 12, a current position detection unit 20, a route search unit 22, a map information storage unit 24, an imaging unit 26, a reference position specifying unit 28, an image extraction unit 30, an input unit 32, and an output unit 34. Configured.

  The control unit 12 includes a CPU 14, a ROM 16, and a RAM 18. The CPU 14 executes a control program stored in the ROM 16 and / or the RAM 18, thereby controlling and supervising the operation of each unit described below.

  The current position detection means 20 receives signals from a plurality of GPS satellites orbiting over the earth at predetermined time intervals, and based on time information and satellite position information included in the signals, the current position of the vehicle 2 is detected. Calculate the position. The current position detection means 20 calculates the current position of the vehicle 2 according to speed information, acceleration information, angular velocity information, etc. detected by an autonomous navigation sensor such as a speed sensor, an acceleration sensor, or a gyroscope mounted on the vehicle 2. You may do.

  By providing an autonomous navigation sensor, even in places that are affected by multipath due to reflection of GPS satellite signals, such as tunnels and underground malls that can not receive GPS satellite signals, underground parking lots, parking lots in buildings, or high-rise buildings, The current position of the navigation device 10 can be calculated from the output from the gyroscope or acceleration sensor. These autonomous navigation sensors can also be used to correct the current position calculated based on the signal received from the GPS satellite by the current position detection means 20.

  The route search means 22 searches for an optimum route (guide route) by referring to map information stored in a map information storage means 24 described later according to the route search conditions input by the user using the input means 32 described later. To do. The route search means 22 searches for a link from the road node corresponding to the starting point or the current position to the node corresponding to the destination by a method such as the Dijkstra method, and accumulates the link length (link cost) and the required time. Then, a route having the shortest total link length (travel distance) or total required time is searched as a guide route.

  The map information storage means 24 holds map information composed of road data, building data, background data, and text data. The road data is composed of node data in which roads are nodes such as inflection points and branch points, and link data in which routes connecting the respective nodes are links. The node data includes node attributes such as node numbers, node position coordinates (latitude / longitude), intersection information and information indicating intersection names, and the number of connection links and connection link numbers. The link data includes the node numbers that are the starting and ending points of the link, the road type for distinguishing between highways, ordinary roads, streets, etc., and the road type for distinguishing the main line, connecting road, and branch road of each road. , Distance and / or required time, road name such as National Route ○, and data on the direction of travel. In addition to the above, the link data includes data such as bridges, tunnels, railroad crossings, and tollgates as link attributes.

  The building data includes position coordinates (latitude / longitude) including at least three points of the building, types of buildings such as stations, buildings, and private houses, and display color data. Further, the background data is configured to include position coordinates (latitude / longitude) composed of at least three points serving as background image data such as a coastline, a lake, a river shape, a forest, and display color data. The text data includes characters (names) such as place names and river names, and data of their coordinates (latitude / longitude).

  In addition, although the navigation apparatus 10 is a stand-alone type in which the map information is built in the navigation apparatus 10, the present invention is not limited to this. For example, the navigation device 10 is provided with communication means (not shown), connected to an information providing server (not shown) outside the navigation device 10 for communication, and a guide route from a map database provided in the information providing server. You may make it acquire the map information linked | related to.

  In that case, the navigation apparatus 10 designates the departure point or the current position and the destination, transmits this to the information providing server as a route search condition, and requests the route search. The information providing server includes route search means, performs a route search using the departure point or current position received from the navigation device 10 and the destination as a route search condition, and displays the map information associated with the search result and the search result as a navigation device. 10 to send.

  The image pickup means 26 picks up an image in the traveling direction 4 of the vehicle 2 and can be constituted by a CCD camera or the like. The imaging means 26 is configured (fixed) integrally with the navigation device 10 that is detachable from the vehicle 2 and includes a wide-angle lens to capture a wide range of images including images in the traveling direction 4. . Further, instead of providing a wide-angle lens, a plurality of imaging means 26 may be arranged in the navigation device 10 and a plurality of captured images may be combined to generate a wide range of images.

  By using a wide-angle lens or a plurality of image pickup means 26, the image pickup direction 6 of the image pickup means 26 integrated with the navigation apparatus 10 is different from the traveling direction 4 of the vehicle 2 (see FIG. 1). An image including the traveling direction 4 can be taken.

  The reference position specifying unit 28 calculates a plurality of movement vectors (optical flows) of the stationary object from the time-series image including the traveling direction 4 imaged by the imaging unit 26, and determines a vanishing point that is an intersection point on the extension of the movement vector. The vanishing point is obtained as a reference position representing the traveling direction 4. The reference position may be a point separated from the vanishing point by a preset distance.

  The image extraction unit 30 extracts a predetermined range of images in the vertical and horizontal directions of the image captured by the imaging unit 26 with the reference position specified by the reference position specifying unit 28 as a reference.

  The input unit 32 includes a key and a touch panel for the user to input route search conditions such as a departure place and a destination to the navigation device 10 in order to perform a route search. The input means 32 can also be a means for instructing selection of an image to be displayed on an output means described later. Examples of the image that is selectively displayed on the output unit 34 include a map image based on the map information read from the map information storage unit 24, a guide route searched by the route search unit 22, and the vehicle 2 captured by the imaging unit 26. And a captured image (including moving images and still images) in the traveling direction 4.

  The output means 34 (image display means) includes a liquid crystal display panel that displays the current position of the vehicle 2, a map image, a guide route, a captured image by the imaging means 26, and a speaker that provides necessary information to the user by voice. It consists of. The output unit 34 is mounted on the navigation device 10 integrally with the imaging unit 26. The orientation of the output unit 34 (liquid crystal display panel) when the navigation device 10 is installed in the vehicle 2 and the imaging unit 26. Are in a relative relationship, for example, 180 degrees different from each other. However, the present invention is not limited to this. For example, a direction of 90 degrees with respect to the direction of the output unit 34 (liquid crystal display panel) may be the imaging direction.

  Next, the processing operation of the navigation device 10 configured as described above will be described with reference to the flowchart shown in FIG.

  First, as a preparation stage, the navigation device 10 is installed at a predetermined position of the vehicle 2. In this case, the navigation device 10 can be freely installed to some extent so that the driver as a user can easily view the image of the output means 34. Accordingly, the imaging direction 6 by the imaging unit 26 configured integrally with the output unit 34 is different from the traveling direction 4 of the vehicle 2 by an angle θ, as shown in FIG. It may become.

  After installing the navigation device 10 in the vehicle 2, the user inputs search conditions for searching for a guidance route, for example, a departure point, a destination, a waypoint, and the like using the input unit 32 of the navigation device 10 ( Step S101).

  When the search condition is input, the route search unit 22 refers to the map information stored in the map information storage unit 24 and searches for the optimal route from the departure point to the destination (step S102). The optimal route is to search the link from the road node corresponding to the starting point to the road node corresponding to the destination by a method such as Dijkstra method, and the cumulative value of link cost such as time and distance is the smallest. Can be searched as a guide route.

  The searched guidance route is displayed on the output means 34 such as a liquid crystal display panel of the navigation apparatus 10 together with the map image based on the map information read from the map information storage means 24 by the control means 12 (step S103). The current position detection means 20 receives a signal including time information and satellite position information from a GPS satellite, calculates the current position of the vehicle 2 based on these information, and the control means 12 together with a map image and a guide route. It is displayed on the output means 34. The user starts traveling to a desired destination according to the map image, current position, and guidance route displayed on the output means 34 (step S104).

  On the other hand, when the traveling of the vehicle 2 is started, the imaging unit 26 starts capturing an image including an image in the traveling direction 4 of the vehicle 2 (step S105). Images are taken at predetermined time intervals set in advance. The captured images at the respective times are temporarily stored in the RAM 18 of the control means 12.

  Next, the control unit 12 determines whether or not there is a display request to the output unit 34 for the image captured by the imaging unit 26 (step S106). This display request may be requested by the user to the navigation device 10 at any timing using the input means 32. However, the current position of the vehicle 2 detected by the current position detecting means 20 is, for example, on the guidance route. When approaching an intersection or other branch point, a display request signal may be automatically generated and notified to the control means 12. That is, the control means 12 may make a self-determination based on the map information, the guidance route, the current position, and the like as to whether or not the captured image should be displayed on the output means 34.

  When there is no display request (step S106, NO), the output unit 34 displays the map image, the guide route, and the current position, while the imaging unit 26 continues to capture the image including the traveling direction 4. The user travels toward the destination according to the map image and the guidance route displayed on the output means 34.

  On the other hand, when the control means 12 determines that there is a display request (step S106, YES), the reference position specifying means 28 performs processing for processing the captured image and specifying the reference position representing the traveling direction 4 of the vehicle 2. .

  Therefore, the reference position specifying unit 28 reads an image captured at time t and an image captured at time t ′ a predetermined time before time t from the RAM 18 (step S107), and uses these images to generate an image. A motion vector (optical flow) of the stationary object is calculated (step S108). In this case, the movement vector can be calculated as a movement of a point having the same level of brightness on the condition that the brightness change of the same object is small between two temporally continuous images.

  FIG. 4 is an explanatory diagram of the movement vectors Va to Vc passing through arbitrary points 38 a to 38 c of the stationary objects 36 a to 36 c in the image 35 captured by the imaging unit 26. The extension lines of these movement vectors Va to Vc intersect at the vanishing point 40 of the image when the vehicle 2 travels in the traveling direction 4. The vanishing point 40 is on an extension line in the traveling direction 4 of the vehicle 2. Therefore, the vanishing point 40 is calculated as the intersection of the calculated plurality of movement vectors (step S109).

  Here, for example, as shown in FIG. 1, the imaging direction 6 of the imaging means 26 mounted on the navigation device 10 installed in the vehicle 2 is shifted to the left by the angle θ with respect to the traveling direction 4 of the vehicle 2. 4, the captured image 35 is captured while the image including the image in the traveling direction 4 of the vehicle 2 is shifted to the right by an amount corresponding to the angle θ.

  Therefore, in consideration of the deviation of the captured image 35, the image extraction means 30 sets a predetermined range of the image region 42 with the calculated vanishing point 40 as a reference position as the captured image 35, and captures an image of the image region 42. Extracted from the image 35 (step S110). Note that the image area 42 in the predetermined range can be extracted as an image having a predetermined number of pixels in the vertical and horizontal directions with the vanishing point 40 as the center. As shown in FIG. 5, the output unit 34 displays the captured image 44 extracted by the image extraction unit 30 and displays the guide route 46 searched by the route search unit 22 in a superimposed manner on the captured image 44 ( Step S111). Note that the captured image 44 may be enlarged and displayed on the output unit 34.

  The processes in steps S105 to S111 are continued until the route guidance is completed and the vehicle 2 reaches the destination (step S112).

  In this way, the output means 34 is a captured image from which an extra image (an image other than the image area 42 shown in FIG. 4) that is not related to the traveling of the vehicle 2 and that may interfere with the determination is removed. 44, and the guide route 46 is displayed so as to be superimposed on the captured image 44, so that the user can easily follow the guide route 46 even at a complicated intersection such as a large number of buildings. It is possible to travel in a desired direction.

  FIG. 6 is a block diagram of the navigation device 50 according to the second embodiment. The difference from the navigation device 10 of the first embodiment is that the navigation device 50 includes the attachment angle detection means 27. Since other configurations are substantially the same as those of the navigation apparatus 10, the same reference numerals are assigned to the same components, and detailed descriptions thereof are omitted.

  The attachment angle detection means 27 may be, for example, an acceleration sensor that constitutes an autonomous navigation sensor mounted on the vehicle 2 or the navigation device 50, or an angle detection means that directly measures the attachment angle of the navigation device 50 with respect to the vehicle 2. it can.

  In the same manner as the processing in steps S101 to S106 of the first embodiment, an image is captured by the imaging unit 26 while traveling according to the searched guide route. When there is a request for displaying a captured image, the attachment angle detection unit 27 obtains the attachment angle of the navigation device 50 with respect to the vehicle 2. The reference position specifying unit 28 calculates a reference position for cutting out the image region 42 (FIG. 4) in the captured image 35 based on the obtained attachment angle of the navigation device 50. Next, the image extraction unit 30 extracts the image area 42 from the captured image 35 in accordance with the calculated reference position. The extracted captured image 44 of the image area 42 is displayed on the output unit 34 together with the guide route 46 as in the first embodiment. In addition, the attachment angle with respect to the vehicle 2 of the navigation apparatus 50 can be calculated by using various conventionally known methods.

  For example, an image picked up by the image pickup means 26 can pick up a range of + 45 ° to −45 ° left and right around the image pickup direction 6, and pick up an image of + 30 ° to −30 ° up and down around the image pickup direction 6. Assuming that the navigation apparatus 50 can be attached 15 ° to the left and 5 ° downward with respect to the traveling direction 4 (vehicle 2), the captured image can be viewed from the center of the captured image. A distance of 1/6 (15 ° / 90 °) of the left and right width is moved to the right, and further, a distance of 1/12 (5 ° / 60 °) of the vertical width of the image taken from the moved position. It is possible to calculate the reference position by moving the position up to the reference position.

  In addition, this invention is not limited to the Example mentioned above, It can change in the range which does not deviate from the summary of this invention.

  For example, the navigation devices 10 and 50 having the imaging unit 26 may be fixed to the vehicle 2 in advance. In this case, when there is an error in the mounting position of the imaging unit 26 with respect to the vehicle 2 or when the imaging direction 6 is different from the traveling direction 4 by changing the direction of the navigation device 10, A captured image 44 of the image area 42 including the traveling direction 4 can be extracted and displayed on the output unit 34.

  Further, as a method of specifying the reference position in the traveling direction 4, as in the case of Patent Document 1, the reference position may be specified based on a road center line or a road-side line. When the reference position is specified based on the center line or the like, the vehicle 2 does not need to travel in the traveling direction 4.

  The captured image 44 captured by the imaging unit 26 and displayed on the output unit 34 is preferably a moving image based on continuously captured images. However, depending on the processing capabilities of the navigation devices 10 and 50, a predetermined timing may be used. The still images captured in step 1 may be displayed sequentially.

  In addition, when the map is displayed with the map image and the guidance route displayed on the output unit 34 and the display of the captured image is requested, the display is switched to the image captured by the image capturing unit 26. In addition, a captured image in a predetermined range based on the reference position may be always displayed together with the guide route.

  Furthermore, the moving body to which the image display device of the present invention and the navigation device using the image display device are applied may include a moving body other than the vehicle 2, for example, a pedestrian who carries the navigation devices 10 and 50 and moves. Is possible.

2 ... Vehicle 4 ... Traveling direction 6 ... Imaging direction 10, 50 ... Navigation device 12 ... Control means 20 ... Current position detection means 22 ... Route search means 24 ... Map information storage means 26 ... imaging means 27 ... attachment angle detection means 28 ... reference position specifying means 30 ... image extraction means 32 ... input means 34 ... output means 35, 44, ... Captured images 36a to 36c ... stationary objects 38a to 38c ... point 40 ... vanishing point 42 ... image region 46 ... guide route

Claims (7)

An imaging means provided in a moving body for capturing an image including an image in a traveling direction of the moving body;
Reference position specifying means for specifying a reference position representing the traveling direction in the imaged image;
Image extracting means for extracting an image of a predetermined range based on the reference position from the captured image;
Image display means for displaying the extracted image;
An image display device comprising: The imaging means captures time-series images,
The image display apparatus according to claim 1, wherein the reference position specifying unit calculates a movement vector based on the captured time-series image, and specifies the reference position from the movement vector. An attachment angle detecting means for detecting an attachment angle of the image display device with respect to the moving body;
The image display device according to claim 1, wherein the reference position specifying unit specifies the reference position from the detected attachment angle.   The said imaging means is comprised integrally with the said image display apparatus, and the said image display apparatus is detachably installed with respect to the said mobile body, The any one of Claims 1-3 characterized by the above-mentioned. Image display device.   The image display device according to claim 1, wherein the image display unit displays the extracted image in an enlarged manner. A route search means for searching for a route to the destination based on the map information;
An imaging means provided in a moving body for capturing an image including an image in a traveling direction of the moving body;
Reference position specifying means for specifying a reference position representing the traveling direction in the imaged image;
Image extracting means for extracting an image of a predetermined range based on the reference position from the captured image;
Image display means for displaying the extracted image together with the route;
A navigation device comprising:   The navigation device according to claim 6, wherein the imaging unit is configured integrally with the navigation device, and the navigation device is detachably attached to the moving body.

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