JP2013207637A5 - - Google Patents

Claims (12)

A plurality of cameras for imaging objects in the vicinity of the host vehicle;
A distance information generation unit that generates distance information to the object imaged by the camera;
A model shape determining unit that determines the shape of a spatial model having a three-dimensional surface according to the distance from the host vehicle to the object based on the distance information generated by the distance information generating unit;
By projecting a plurality of images obtained by imaging with the plurality of cameras onto the spatial model having the shape determined by the model shape determining unit, and further converting the projected image into a screen coordinate system, a screen coordinate system A projection conversion unit for generating an image of
An image composition unit that extracts a part or all of the image of the screen coordinate system generated by the projection conversion unit to generate a composite image;
An image processing apparatus comprising: an information transmission unit that causes the image display unit to display the composite image generated by the image synthesis unit. Based on the distance information generated by the distance information generation unit, the model shape determination unit reflects only the distance information of the object in the traveling direction of the host vehicle and closest to the host vehicle, or the portion thereof. The image processing apparatus according to claim 1, wherein the shape of the spatial model is determined. The model shape determining unit reflects distance information about a portion from the end closest to the host vehicle to a predetermined distance range from the target or the portion of the target closest to the host vehicle. The image processing apparatus according to claim 2, wherein the shape of the space model is determined. The model shape determination unit is based on the distance information generated by the distance information generation unit, and is in the traveling direction of the host vehicle and is closest to the host vehicle or a portion thereof, and the closest target on the image The image processing apparatus according to claim 1, wherein the shape of the space model is determined by reflecting only distance information about a portion located around the portion. The model shape determining unit is configured to assume a predetermined shape for a portion other than a portion determined by reflecting distance information to the object or the portion of the space model. the image processing apparatus according to any one of 2 to 4.   The image processing apparatus according to claim 5, wherein the predetermined shape is a bowl shape.   The model shape determining unit determines the size of the predetermined shape so that a step does not occur between a portion that reflects the object or distance information to the portion and a portion that is connected thereto. The image processing apparatus according to claim 5, wherein the image processing apparatus is an image processing apparatus.   The said image synthetic | combination part performs the process for blurring the boundary part of the image part corresponding to the target object or its part nearest to the said own vehicle, and its surrounding image part in the said synthesized image. Image processing device. Each of the plurality of cameras, at least one other camera and the image processing apparatus according to any one of claims 1 to 8, the imaging range is characterized in that partially overlaps one of said plurality of cameras . A brightness adjustment unit for matching brightness levels for each image captured by the plurality of cameras;
Any one of claims 1 to 9, further comprising a camera parameter setting section for controlling the brightness level of the image captured by each of the plurality of cameras based on the control signal from the brightness adjusting portion An image processing apparatus according to 1. Imaging an object in the vicinity of the host vehicle with a plurality of cameras;
A distance information generating step for generating distance information to an object imaged by the camera;
A model shape determination step for determining a shape of a spatial model having a three-dimensional surface according to a distance from the host vehicle to the object based on the distance information generated in the distance information generation step;
By projecting a plurality of images obtained by imaging with the plurality of cameras onto the spatial model having the shape determined in the model shape determining step, and further converting the projected image into a screen coordinate system, a screen coordinate system A projection transformation step for generating an image of
An image synthesis step of extracting a part or all of the image of the screen coordinate system generated by the projection conversion step to generate a synthesized image;
An image transmission method comprising: an information transmission step of causing the image display unit to display the combined image generated in the image combining step.   A computer program for causing a computer to execute each step of the image processing method according to claim 11.

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