JP2017220163A - Image generation device, image display system and image generation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a user to correctly grasp the surrounding of a vehicle.SOLUTION: The invention comprises an image generation part and a switching part. The image generation part combines a surrounding image from picked up images which are imaged by plural cameras for imaging the surrounding of the vehicle, then superposes an image for image indicating the vehicle to the surrounding image, then generates a virtual viewpoint image indicating the vehicle and the surrounding of the vehicle in view from the virtual viewpoint. The switching part switches the image for image and the surrounding image, in at least a partial area containing a boundary between the vehicle and a road surface on the virtual viewpoint image.SELECTED DRAWING: Figure 1B

Description

  The present invention relates to an image generation apparatus, an image display system, and an image generation method.

  2. Description of the Related Art Conventionally, in an image display system mounted on a vehicle, a technique for displaying a virtual viewpoint image showing the surroundings of the vehicle so as to look down from a virtual viewpoint above the vehicle has been proposed (see, for example, Patent Document 1).

JP 2014-41398 A

  However, with the conventional technology, the user may not be able to accurately grasp the surroundings of the vehicle. This is because an image image different from the actual image is used as an image showing the vehicle, and a part of the actual image is hidden by the image image.

  The present invention has been made in view of the above problems, and an object thereof is to provide an image generation device, an image display system, and an image generation method that allow a user to accurately grasp the surroundings of a vehicle.

  In order to solve the above-described problems and achieve the object, the present invention includes an image generation unit and a switching unit. The image generation unit synthesizes a surrounding image from captured images captured by a plurality of cameras that capture the periphery of the vehicle, superimposes an image image indicating the vehicle on the surrounding image, and the vehicle viewed from a virtual viewpoint, and the A virtual viewpoint image showing the periphery of the vehicle is generated. The switching unit switches between the image image and the surrounding image for at least a partial region including a boundary between the vehicle and a road surface in the virtual viewpoint image.

  ADVANTAGE OF THE INVENTION According to this invention, the image generation apparatus, the image display system, and image generation method which can make a user grasp | ascertain the circumference | surroundings of a vehicle correctly can be provided.

FIG. 1A is a diagram illustrating a mounting example of an image generation apparatus according to the present embodiment. FIG. 1B is a diagram illustrating an outline of a virtual viewpoint image according to the present embodiment. FIG. 2 is a block diagram illustrating a configuration example of the image display system according to the present embodiment. FIG. 3 is a diagram illustrating an arrangement example of the detection units. FIG. 4 is a diagram illustrating a specific example of processing by the superposition switching unit. FIG. 5 is a diagram illustrating a specific example of processing by the image switching unit. FIG. 6 is a flowchart illustrating a processing procedure of the image generation apparatus according to the present embodiment.

  Hereinafter, embodiments of an image generation device, an image display system, and an image generation method according to the present invention will be described with reference to the accompanying drawings. In addition, this invention is not limited by this embodiment.

  First, an outline of the image generation apparatus 1 according to the present embodiment will be described with reference to FIG. 1A. FIG. 1A is a diagram illustrating a mounting example of the image generation apparatus 1 according to the present embodiment.

  As shown in FIG. 1A, the image generation device 1 according to this embodiment is mounted on a vehicle 100. The vehicle 100 includes a plurality of cameras Cf, Cb, Cl, and Cr (hereinafter collectively referred to as “camera C”).

  As the camera C, for example, a wide-angle lens such as a fisheye lens is used. Each of the plurality of cameras C images a predetermined area around the vehicle 100, and images the entire periphery of the vehicle 100 with the entire camera C.

  Specifically, the front camera Cf is provided in a front bumper of the vehicle 100, and the optical axis Af is directed in the straight traveling direction of the vehicle 100. Further, the back camera Cb is provided on a rear bumper of the vehicle 100, and the optical axis Ab is directed in the direction opposite to the traveling direction of the vehicle 100.

  The side cameras Cl and Cr are provided on the lower ends of the side mirrors located on the left and right sides of the vehicle 100, and the optical axis Al of the side camera Cl is directed to the left side of the vehicle 100. Further, the optical axis Ar of the side camera Cr is directed to the right side of the vehicle 100.

  The captured image captured by the side cameras Cl and Cr includes a boundary between the side surface of the vehicle 100 and the road surface. The image generation device 1 acquires captured images captured by a plurality of cameras C, and synthesizes a surrounding image indicating the periphery of the vehicle 100 from the captured images by processing described later.

  Further, as described above, since the captured image captured by the side cameras Cl and Cr includes the boundary between the side surface of the vehicle 100 and the road surface, the above-described boundary is also included in the surrounding image synthesized from the captured image. In the following description, an area including the boundary between the vehicle 100 and the road surface in the surrounding image may be described as a “boundary area”.

  Then, the image generation apparatus 1 superimposes an image image showing the vehicle 100 on the synthesized surrounding image, and generates a virtual viewpoint image showing the vehicle 100 and the surroundings of the vehicle 100 viewed from the virtual viewpoint.

  Such an image includes, for example, a polygon imitating the vehicle 100, and the polygon corresponds to a three-dimensional image when the vehicle 100 is viewed from a virtual viewpoint. The image image is an image stored in advance in the image generation apparatus 1. That is, the current state of the vehicle 100 is reflected in the surrounding image, and the current state of the vehicle 100 is not reflected in the image image.

  By the way, in the conventional image generation device, the image image is superimposed in a wider range than the range where the vehicle 100 actually exists in the virtual viewpoint image. That is, the image is made larger than the actual size of the vehicle 100. This is to improve the appearance of the virtual viewpoint image.

  Specifically, individual differences due to the vehicle 100 occur in the position of the end of the vehicle 100 in the surrounding image due to an attachment error of the camera C, a setting error when combining the surrounding images, and the like. That is, depending on the size of the image image, the end portion of the image image and the end portion of the vehicle 100 of the surrounding image may be displayed twice in the virtual viewpoint image. In such a case, not only the appearance of the virtual viewpoint image is degraded, but also the end portion is displayed twice, which may be confusing to the user.

  For this reason, in the conventional image generating apparatus, an image image is superposed over a wide range so that the end portion is not displayed twice regardless of the individual differences described above. However, the conventional image generation apparatus has a problem that it is difficult for the user to grasp the surroundings of the vehicle 100 because the image image is superimposed over a wide range.

  Specifically, since the above-described boundary region is not displayed in the conventional virtual viewpoint image, it is difficult for the user to grasp the actual distance between the vehicle 100 and an object around the vehicle 100. Further, since an object directly under the door of the vehicle 100 or an object in the vicinity thereof is not displayed, the user may not be able to confirm the object and may miss the above-described object.

  Therefore, in the image generation device 1 according to the present embodiment, the image image and the surrounding image are switched for at least a partial region including the boundary between the vehicle 100 and the road surface in the virtual viewpoint image. As a result, the user can accurately grasp the surroundings of the vehicle 100. Hereinafter, an outline of a virtual viewpoint image generated by the image generation apparatus 1 according to the present embodiment will be described with reference to FIG. 1B.

  FIG. 1B is a diagram showing an outline of the virtual viewpoint image L according to the present embodiment. FIG. 1B illustrates a case where the virtual viewpoint image L is an image of the vehicle 100 and its surroundings viewed from a virtual viewpoint above the vehicle 100.

  As illustrated in FIG. 1B, the image generation device 1 according to the present embodiment switches between the surrounding image Lc and the image image Li for at least a part of the virtual viewpoint image L including the boundary between the vehicle 100 and the road surface. In other words, the image generation device 1 switches the virtual viewpoint image L to be generated between the virtual viewpoint image L1 and the virtual viewpoint image L2.

  The virtual viewpoint image L includes a surrounding image Lc and an image image Li. The image image Li is arranged at the center of the virtual viewpoint image L. In FIG. 1B, the image image Li is displayed after being hatched in order to easily distinguish the surrounding image Lc and the image image Li.

  In the virtual viewpoint image L1, the image image Li is superimposed on a wider area than the area where the vehicle 100 actually exists in the surrounding image Lc, for example, as in the conventional image generation device. On the other hand, in the virtual viewpoint image L2, a surrounding image Lc is displayed in a region R (region surrounded by a broken line) including a boundary between the left and right side surfaces of the vehicle 100 and the road surface.

  Here, the surrounding image Lc displayed in the region R includes the side surface of the vehicle 100. This makes it easy for the user to grasp the actual distance between the side surface of the vehicle 100 and the line on the road surface in the side surface direction, and an object such as another vehicle.

  For example, the image generation device 1 switches the virtual viewpoint image L to be generated between the virtual viewpoint image L1 and the virtual viewpoint image L2 at a timing when an operation unit described later in FIG. 2 is operated.

  Specifically, when the virtual viewpoint image L is the virtual viewpoint image L1, the virtual viewpoint image L2 is switched to. Then, for example, when the operation unit is operated again, the image generation device 1 switches from the virtual viewpoint image L2 to the virtual viewpoint image L1.

  As described above, the image generation device 1 switches between the image image Li and the surrounding image Lc for the region including the boundary between the side surface of the vehicle 100 and the road surface in the virtual viewpoint image L. When the image image Li is used for the region R, the image generation device 1 generates a virtual viewpoint image L2 that reflects the actual distance between the vehicle 100 and the surrounding objects.

  As a result, the user can accurately grasp the distance between the vehicle 100 and the surrounding objects. The virtual viewpoint image L2 displays an image reflecting the current state immediately below the door of the vehicle 100. Therefore, according to the image generation device 1 according to the present embodiment, the user can accurately grasp the surroundings of the vehicle 100.

  Further, by displaying a region including the boundary between the side surface of the vehicle 100 and the road surface in the region R of the virtual viewpoint image L2, the distance to the object on the side surface side can be accurately grasped. Thereby, the user can perform an accurate width adjustment of the vehicle 100 in the lateral direction based on the virtual viewpoint image L2. This is particularly effective when the vehicle 100 is parked close to each other in a narrow parking space or when traveling on a narrow alley.

  In the above-described example, the case where the two regions R of the virtual viewpoint image L2 are switched to the surrounding image Lc is illustrated. However, the present invention is not limited to this, and at least one of the two regions R is switched to the surrounding image Lc. Also good. Further, the two regions R may be further divided, and an arbitrary region among the divided regions may be switched to the surrounding image Lc.

  Further, in the above-described example, the case where the viewpoint position of the virtual viewpoint is above the vehicle 100 is illustrated, but the viewpoint position of the virtual viewpoint may be, for example, a vehicle interior or another viewpoint position outside the vehicle interior.

  Moreover, in the example mentioned above, although illustrated about the case where the image image Li is an image of the vehicle 100, it is not restricted to this, If the image image Li is an image which can make a user recognize the area | region where the vehicle 100 exists, The form is not particularly limited.

  In the following description, the virtual viewpoint image L in which the boundary area is not displayed is referred to as a virtual viewpoint image L1, and the virtual viewpoint image L in which the boundary area is displayed is referred to as a virtual viewpoint image L2. Hereinafter, the image generation apparatus 1 and the image display system 50 according to the present embodiment will be described in detail.

  First, a configuration example of the image display system 50 according to the present embodiment will be described. FIG. 2 is a block diagram illustrating a configuration example of the image display system 50 according to the present embodiment. The image display system 50 further includes a display device 30 in addition to the image generation device 1 described above.

  As illustrated in FIG. 2, the image generation device 1 includes a control unit 10 and a storage unit 20. Further, the camera C, the shift sensor 6, the detection unit 7, the operation unit 8, and the display device 30 are connected to the image generation device 1.

  Shift sensor 6 detects the current shift position of the shift lever of vehicle 100. The detection unit 7 detects objects around the vehicle 100. The operation unit 8 is disposed in a location where the user can easily operate the vehicle 100 such as a handle, and accepts a user operation.

  The display device 30 displays the image generated by the image generation device 1. In addition, the display device 30 is arranged at a place where the user can easily see, such as an instrument panel of the vehicle 100, for example. Therefore, the user can easily grasp the surroundings of the vehicle 100 from the virtual viewpoint image L displayed on the display device 30.

  The control unit 10 generates a virtual viewpoint image L indicating the vehicle 100 and the surroundings of the vehicle 100 from the captured image. The control unit 10 includes, for example, a microcomputer having a central processing unit (CPU), a read only memory (ROM) and a random access memory (RAM), an input / output port, and various circuits. The control unit 10 includes an image generation unit 11 and a switching unit 15.

  The image generation unit 11 synthesizes a surrounding image Lc from captured images captured by a plurality of cameras C that capture the surroundings of the vehicle 100, and superimposes an image image Li indicating the vehicle 100 on the surrounding image Lc to create a virtual viewpoint. The virtual viewpoint image L which shows the surroundings of the vehicle 100 seen from the vehicle 100 and the vehicle 100 is produced | generated.

  Specifically, first, the image generation unit 11 performs a coordinate conversion process on the captured image, and synthesizes a surrounding image Lc showing the surroundings of the vehicle 100 as seen from the virtual viewpoint. In such coordinate conversion processing, the image generation unit 11 projects (maps), for example, a predetermined projection plane, and an image of an area included in a predetermined viewing angle from a virtual viewpoint among captured images projected on the predetermined projection plane. Is the surrounding image Lc.

  Subsequently, the image generation unit 11 superimposes the image image Li indicating the vehicle 100 viewed from the virtual viewpoint on the surrounding image Lc, so that the virtual viewpoint image L1 viewed from the virtual viewpoint and the periphery of the vehicle 100 is obtained. Generate. Then, the image generation unit 11 outputs the generated virtual viewpoint image L1 to the display device 30 or the switching unit 15 as image data D1.

  The switching unit 15 switches between the image image Li and the surrounding image Lc for at least a part of the region including the boundary between the vehicle 100 and the road surface in the virtual viewpoint image L. The switching unit 15 includes a path switching unit 15a, a superposition switching unit 15b, and an image image switching unit 15c.

  When a predetermined signal is input from the shift sensor 6, the detection unit 7, and the operation unit 8, the path switching unit 15 a displays the output path of the image data D <b> 1 generated by the image generation unit 11 and the superimposition switching unit. Switch between 15b.

  Here, when the output path is the display device 30, the virtual viewpoint image L1 of the image data D1 is displayed on the display device 30. When the output path of the image data D1 is the superposition switching unit 15b, the image data D1 is converted into a virtual viewpoint image L2 in which at least a part of the boundary region is displayed by the process described later, and the virtual data The viewpoint image L2 is displayed on the display device 30.

  Next, details of output path switching processing by the path switching unit 15a will be described. For example, when the user presses the operation unit 8, the operation unit 8 outputs a switching request signal to the route switching unit 15a.

  When acquiring the switching request signal, the path switching unit 15a switches the output path of the image data D1 from the current output path to the other output path. That is, the switching unit 15 switches between the virtual viewpoint image L1 and the virtual viewpoint image L2 when the operation unit 8 is operated. Therefore, it is possible to switch the display of the virtual viewpoint image L at the timing intended by the user. Thereby, operability can be improved.

  Note that the operation unit 8 and the display device 30 may be configured integrally. In this case, the display device 30 and the operation unit 8 are configured with, for example, a touch panel display. Alternatively, the operation unit 8 may be an operation unit of an electronic device such as a smartphone disposed in the vehicle, and the path switching unit 15a may acquire a switching request signal input from the electronic device.

  Further, when the signal indicating that the current shift position of the vehicle 100 is reverse is input from the shift sensor 6, the path switching unit 15 a switches the output path of the image data D <b> 1 to the superposition switching unit 15 b side. On the other hand, when a signal other than reverse (drive, parking, etc.) is input from the shift sensor 6, the path switching unit 15 a switches the output path to the display device 30 side.

  In other words, the switching unit 15 switches the display of the virtual viewpoint image L according to the shift position of the vehicle 100. When the vehicle 100 moves backward, the output route is switched to the virtual viewpoint image L2 on which the boundary area is displayed.

  This is because when the vehicle 100 moves backward, there are more blind spots on the traveling direction side than when the vehicle 100 moves forward, and it is difficult to narrow the vehicle. Therefore, when the vehicle 100 moves backward, by allowing the user to accurately grasp the surroundings of the vehicle 100, parking assistance in the backward direction that matches the actual width of the vehicle 100 is possible.

  Further, the path switching unit 15 a may switch the output path according to the signal input from the detection unit 7. The detection unit 7 includes, for example, a clearance sonar, and a plurality of detection units 7 are arranged in the vehicle 100.

  Here, the example of arrangement | positioning of the detection part 7 is demonstrated using FIG. FIG. 3 is a diagram illustrating an arrangement example of the detection unit 7. As illustrated in FIG. 3, the plurality of detection units 7 a to 7 d are provided, for example, at the front left and right end portions and the rear left and right end portions of the vehicle 100. The plurality of detection units 7a to 7d have predetermined detection ranges Ra to Rd.

  And the detection parts 7a-7d detect the object which exists in the circumference | surroundings of the vehicle 100 by transmitting an ultrasonic wave with respect to predetermined detection range Ra-Rd, and receiving the reflected wave reflected by the surrounding object. . And the detection parts 7a-7d output the signal (henceforth a "distance signal") according to the distance to the detected object to the path | route switching part 15a.

  Returning to the description of FIG. 2, the processing by the path switching unit 15a will be described. The path switching unit 15a switches the output path of the image data D1 to the superposition switching unit 15b side when the distance signal acquired from the detection unit 7 indicates that it is equal to or less than a predetermined value.

  In other words, the switching unit 15 switches to the virtual viewpoint image L2 displaying the boundary region when the distance between the vehicle 100 and an object around the vehicle 100 is a predetermined value or less. That is, when there is a possibility that the vehicle 100 and the object are in contact with each other, the user is caused to accurately grasp the surroundings of the vehicle 100. Thereby, it is possible to easily avoid contact between the vehicle 100 and the object. The predetermined value is, for example, 30 centimeters, but can be set to an arbitrary value.

  The superimposition switching unit 15b switches the order in which the surrounding image Lc and the image image Li included in the image data D1 are superimposed when the image data D1 is input. Here, the process by the superimposition switching unit 15b will be described with reference to FIG. FIG. 4 is a diagram illustrating a specific example of processing by the superposition switching unit 15b.

  As shown in FIG. 4, the image data D1 is image data in which the image image Li is superimposed on the surrounding image Lc. Further, the image image Li can be divided into, for example, three image images Li1 to Li3. Note that the widths of the image images Li2 and Li3 in the left-right direction correspond to, for example, 10 to 20 centimeters in actual distance, but can be arbitrarily changed.

  The superposition switching unit 15b superimposes the surrounding image Lc on the image image Li of the input image data D1. Specifically, first, the superposition switching unit 15b divides the image image Li into a layer A and a layer B, for example.

  The layer A includes an image image Li2 positioned at the center of the image image Li, and the layer B includes an image image Li1 and an image image Li3 positioned at both ends of the image image Li2. Then, the superposition switching unit 15b superimposes the surrounding image Lc on the near side of the layer B, that is, on the layer B, and switches from the image data D1 to the image data D2. Then, the superposition switching unit 15b outputs the image data D2 for which superposition switching has been performed to the image image switching unit 15c.

  Such image data D2 corresponds to the virtual viewpoint image L2 shown in FIG. 1B. That is, in the image data D2, the surrounding image Lc is displayed in the region R shown in FIG. 1B. The reason why the surrounding image Lc is not superimposed on the layer A is that the surrounding image Lc in the range where the image image Li2 is superimposed is not synthesized.

  Thus, since the superimposition switching unit 15b only needs to switch the order in which the surrounding image Lc and the image image Li are superimposed, the virtual viewpoint image L can be easily switched.

  The superimposition switching unit 15b may superimpose the surrounding image Lc on all the image images Li1 to Li3, or extract an arbitrary image from the image images Li1 to Li3 and extract the surrounding image Lc. It is also possible to superimpose it on the image. Further, the image image Li may be further divided, and the surrounding image Lc may be superimposed on an arbitrary image among the divided images.

  Returning to FIG. 2, the image switching unit 15c will be described. When the image data D2 is input from the superimposition switching unit 15b, the image image switching unit 15c changes the image image Li of the image data D2 and performs a process for improving the appearance of the virtual viewpoint image L2. This is because the virtual viewpoint image L2 is merely switched in the order in which the images are superimposed, and the appearance is reduced compared to the virtual viewpoint image L1.

  Here, the processing by the image switching unit 15c will be described with reference to FIG. FIG. 5 is a diagram illustrating a specific example of processing by the image switching unit 15c. As shown in the figure, the image image switching unit 15c generates a virtual viewpoint image L3 by superimposing a new image image Li5 on the left and right ends within the range where the image image Li2 is superimposed.

  The image image Li5 is, for example, an image obtained by applying mosaic processing or the like to the image image Li2, or an image with a gradation that changes from the color of the vehicle 100 to the color of the image image Li from the end toward the center. is there. Then, the image image switching unit 15c outputs the virtual viewpoint image L3 to the display device 30 as the image data D3. The image image Li5 is stored in the storage unit 20 as image image information 21.

  In this way, by switching the image image Li, it is possible to eliminate the uncomfortable feeling at the boundary between the surrounding image Lc and the image image Li2 and improve the appearance. Therefore, in the virtual viewpoint image L3, the user can accurately grasp the surroundings of the vehicle 100 while improving the appearance.

  Note that the image image Li5 is not limited to the above-described example, and any form may be used as long as it is an image that improves the appearance of the virtual viewpoint image L. Further, in the above-described example, the case where the image image Li5 is newly superimposed on the image image Li2 is illustrated, but the image image Li2 may be switched to another image image Li.

  The storage unit 20 stores image image information 21. The storage unit 20 is a semiconductor memory device such as a RAM (Random Access Memory) or a flash memory, or a storage device such as a hard disk or an optical disk.

  Subsequently, a processing procedure of the image generation apparatus 1 will be described with reference to FIG. FIG. 6 is a flowchart illustrating a processing procedure of the image generation apparatus 1 according to the present embodiment, which is repeatedly executed by the control unit 10 of the image generation apparatus 1.

  As shown in FIG. 6, first, the image generation unit 11 of the image generation device 1 generates a virtual viewpoint image L (step S101). Subsequently, the path switching unit 15a of the switching unit 15 determines whether or not to display a boundary region on the virtual viewpoint image L (step S102).

  When the boundary region is displayed on the virtual viewpoint image L in the determination in step S102 (step S102, Yes), the superposition switching unit 15b and the image image switching unit 15c of the switching unit 15 switch the boundary region to the surrounding image Lc (step S102). S103). Then, the switching unit 15 outputs the virtual viewpoint image L2 (or virtual viewpoint image L3) to the display device 30 (step S104), and ends the process.

  On the other hand, when it is determined in step S102 that the boundary region is not displayed on the virtual viewpoint image L (No in step S102), the image generation unit 11 outputs the virtual viewpoint image L1 to the display device 30 (step S104), and performs the process. finish.

  As described above, the image generation apparatus 1 according to this embodiment includes the image generation unit 11 and the switching unit 15. The image generation unit 11 synthesizes the surrounding image Lc from the captured images captured by the plurality of cameras C that capture the periphery of the vehicle 100, and superimposes the image image Li indicating the vehicle 100 on the surrounding image Lc from the virtual viewpoint. A virtual viewpoint image L showing the viewed vehicle 100 and the surroundings of the vehicle 100 is generated. The switching unit 15 switches between the image image Li and the surrounding image Lc for at least a part of the region including the boundary between the vehicle 100 and the road surface in the virtual viewpoint image L. Therefore, according to the image generation device 1 according to the present invention, the user can accurately grasp the surroundings of the vehicle 100.

  By the way, in the above-described embodiment, the boundary region is exemplified as the boundary between the side surface of the vehicle 100 and the road surface, but the front and rear ends of the vehicle 100 may be included in the boundary region. As a result, the user can accurately grasp the entire periphery of the vehicle 100.

  In addition, although the case where the switching unit 15 switches whether or not to display the boundary region on the virtual viewpoint image L by switching the order in which the virtual viewpoint image L is superimposed, the switching unit 15 is not limited thereto. In other words, the scale of the display range of the image image Li may be switched to switch whether or not to display the boundary region on the virtual viewpoint image L.

  In this case, the boundary area may be displayed on the virtual viewpoint image L by simply reducing the scale of the image image, or the position of the end of the vehicle 100 is determined from the captured image captured by the camera C. The detection unit may be provided, and the switching unit 15 may reduce the scale of the image image Li in accordance with the position of the end detected by the detection unit.

  Further, the switching unit 15 may switch whether or not to display the boundary region on the virtual viewpoint image L by switching the transparency of the image image Li. In this case, the switching unit 15 can reduce the transparency of the image image Li and display the boundary region on the virtual viewpoint image L.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

DESCRIPTION OF SYMBOLS 1 Image generation apparatus 10 Control part 11 Image generation part 15 Switching part 15a Path | route switching part 15b Overlay switching part 15c Image image switching part 30 Display apparatus 50 Image display system 100 Vehicle L Virtual viewpoint image Lc Surrounding image Li Image image

Claims (8)

A surrounding image is synthesized from captured images captured by a plurality of cameras that capture the periphery of the vehicle, and an image image representing the vehicle is superimposed on the surrounding image to show the vehicle and the surroundings of the vehicle viewed from a virtual viewpoint An image generation unit for generating a virtual viewpoint image;
An image generation apparatus comprising: a switching unit that switches between the image image and the surrounding image for at least a partial region including a boundary between the vehicle and a road surface in the virtual viewpoint image. The region is
The image generating apparatus according to claim 1, comprising a boundary between a side surface of the vehicle and a road surface. The switching unit is
The image generation apparatus according to claim 1, wherein when the image image is switched to the surrounding image, the surrounding image is superimposed on the image image. The switching unit is
The image generating apparatus according to claim 1, wherein the image image and the surrounding image are switched when an operation unit arranged in the vehicle is operated. The switching unit is
The image generation apparatus according to claim 1, wherein when the vehicle moves backward, the image image is switched to the surrounding image. The switching unit is
The image generation according to any one of claims 1 to 5, wherein when the distance between the vehicle and an object around the vehicle is a predetermined value or less, the image image is switched to the surrounding image. apparatus. The image generation device according to any one of claims 1 to 6,
An image display system comprising: a display device that displays an image generated by the image generation device. A surrounding image is synthesized from captured images captured by a plurality of cameras that capture the periphery of the vehicle, and an image image representing the vehicle is superimposed on the surrounding image to show the vehicle and the surroundings of the vehicle viewed from a virtual viewpoint An image generation step for generating a virtual viewpoint image;
A switching step of switching between the image image and the surrounding image for at least a part of the virtual viewpoint image including a boundary between the vehicle and a road surface.

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