JP2018107754A - 画像生成装置および画像生成方法 - Google Patents
画像生成装置および画像生成方法 Download PDFInfo
- Publication number
- JP2018107754A JP2018107754A JP2016255247A JP2016255247A JP2018107754A JP 2018107754 A JP2018107754 A JP 2018107754A JP 2016255247 A JP2016255247 A JP 2016255247A JP 2016255247 A JP2016255247 A JP 2016255247A JP 2018107754 A JP2018107754 A JP 2018107754A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- image
- unit
- virtual viewpoint
- overhead
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title abstract description 21
- 230000002194 synthesizing effect Effects 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims description 41
- 238000003384 imaging method Methods 0.000 claims description 34
- 240000004050 Pentaglottis sempervirens Species 0.000 claims description 19
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims description 19
- 230000015572 biosynthetic process Effects 0.000 claims description 16
- 238000003786 synthesis reaction Methods 0.000 claims description 16
- 239000013256 coordination polymer Substances 0.000 description 30
- 238000010586 diagram Methods 0.000 description 18
- 239000000203 mixture Substances 0.000 description 14
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/002—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/31—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing stereoscopic vision
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/63—Control of cameras or camera modules by using electronic viewfinders
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Image Processing (AREA)
- Closed-Circuit Television Systems (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
Abstract
【解決手段】実施形態に係る画像生成装置は、合成部と、重畳部とを備える。合成部は、車両に設けられた撮像部によって撮像された撮像画像に基づき、車両の側方の少なくとも一部を含むように車両の進行方向を見る仮想視点の俯瞰画像を合成する。重畳部は、合成部によって合成された俯瞰画像における車両の路面位置に車両を平面化した平面画像を重畳する。
【選択図】図2
Description
2 制御部
3 記憶部
13a〜13d 撮像部
21 物体検出部
22 受付部
23 速度算出部
24 合成部
25 重畳部
C 車両
P 俯瞰画像
R 死角領域
W 壁
CP 平面画像
VP 仮想視点
Claims (6)
- 車両に設けられた撮像部によって撮像された撮像画像に基づき、前記車両の側方の少なくとも一部を含むように前記車両の進行方向を見る仮想視点の俯瞰画像を合成する合成部と、
前記合成部によって合成された前記俯瞰画像における前記車両の路面位置に前記車両を平面化した平面画像を重畳する重畳部と
を備えることを特徴とする画像生成装置。 - 前記合成部は、
前記車両の内部を前記仮想視点とする前記俯瞰画像を合成すること
を特徴とする請求項1に記載の画像生成装置。 - 前記重畳部は、
前記俯瞰画像における前記撮像部の死角領域に収まるように前記平面画像を重畳すること
を特徴とする請求項1または2に記載の画像生成装置。 - 前記車両の周辺に存在する物体を検出する物体検出部をさらに備え、
前記重畳部は、
前記物体検出部の検知範囲を示す検知範囲画像を前記俯瞰画像に重畳すること
を特徴とする請求項1〜3のいずれか一つに記載の画像生成装置。 - 前記合成部は、
前記車両の側方に障害物が存在する場合に、前記俯瞰画像における前記障害物が存在する領域のうち前記進行方向側の一部を透過させた前記俯瞰画像を合成すること
を特徴とする請求項1〜4のいずれか一つに記載の画像生成装置。 - 車両に設けられた撮像部によって撮像された撮像画像に基づき、前記車両の側方の少なくとも一部を含むように前記車両の進行方向を見る仮想視点の俯瞰画像を合成する合成工程と、
前記合成工程によって合成された前記俯瞰画像における前記車両の路面位置に前記車両を平面化した平面画像を重畳する重畳工程と
を含むことを特徴とする画像生成方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016255247A JP6730177B2 (ja) | 2016-12-28 | 2016-12-28 | 画像生成装置および画像生成方法 |
US15/834,705 US10611308B2 (en) | 2016-12-28 | 2017-12-07 | Image generation device and image generation method |
DE102017130664.1A DE102017130664A1 (de) | 2016-12-28 | 2017-12-20 | Bilderzeugungseinrichtung und bilderzeugungsverfahren |
CN201711448939.4A CN108259879B (zh) | 2016-12-28 | 2017-12-27 | 图像生成装置及图像生成方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016255247A JP6730177B2 (ja) | 2016-12-28 | 2016-12-28 | 画像生成装置および画像生成方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018107754A true JP2018107754A (ja) | 2018-07-05 |
JP6730177B2 JP6730177B2 (ja) | 2020-07-29 |
Family
ID=62510436
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016255247A Active JP6730177B2 (ja) | 2016-12-28 | 2016-12-28 | 画像生成装置および画像生成方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10611308B2 (ja) |
JP (1) | JP6730177B2 (ja) |
CN (1) | CN108259879B (ja) |
DE (1) | DE102017130664A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10735667B1 (en) | 2019-01-25 | 2020-08-04 | Toyota Jidosha Kabushiki Kaisha | Vehicle surroundings monitoring apparatus |
US10930150B2 (en) | 2019-01-25 | 2021-02-23 | Toyota Jidosha Kabushiki Kaisha | Parking support apparatus |
DE102022100464A1 (de) | 2021-01-27 | 2022-07-28 | Toyota Jidosha Kabushiki Kaisha | Parkassistenzvorrichtung |
US11613273B2 (en) | 2019-10-11 | 2023-03-28 | Toyota Jidosha Kabushiki Kaisha | Parking assist apparatus |
US11643070B2 (en) | 2019-10-11 | 2023-05-09 | Toyota Jidosha Kabushiki Kaisha | Parking assist apparatus displaying perpendicular-parallel parking space |
DE102023133201A1 (de) | 2022-12-07 | 2024-06-13 | Toyota Jidosha Kabushiki Kaisha | Parkunterstützungsvorrichtung, Steuerungsverfahren und nicht-transitorisches Speichermedium |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2347060B1 (en) | 2008-10-16 | 2019-06-19 | Zephyros Inc. | Composite sound absorber |
JP6607272B2 (ja) * | 2018-03-02 | 2019-11-20 | 株式会社Jvcケンウッド | 車両用記録装置、車両用記録方法及びプログラム |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002079881A (ja) * | 2000-05-24 | 2002-03-19 | Matsushita Electric Ind Co Ltd | 描画装置 |
JP2005020502A (ja) * | 2003-06-27 | 2005-01-20 | Nippon Seiki Co Ltd | 車両用監視装置 |
JP2007158426A (ja) * | 2005-11-30 | 2007-06-21 | Alpine Electronics Inc | 車両周辺画像表示装置 |
JP2007295357A (ja) * | 2006-04-26 | 2007-11-08 | Alpine Electronics Inc | 車載周辺状況提示装置 |
JP2010109684A (ja) * | 2008-10-30 | 2010-05-13 | Clarion Co Ltd | 車両周辺画像表示システム |
JP2010183234A (ja) * | 2009-02-04 | 2010-08-19 | Panasonic Corp | 描画装置 |
JP2012188057A (ja) * | 2011-03-14 | 2012-10-04 | Panasonic Corp | 表示装置 |
JP2014229102A (ja) * | 2013-05-23 | 2014-12-08 | 日産自動車株式会社 | 車両用表示装置 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10317044A1 (de) * | 2003-04-11 | 2004-10-21 | Daimlerchrysler Ag | Freiraumüberwachung bei Kraftfahrzeugen |
JP2007180803A (ja) * | 2005-12-27 | 2007-07-12 | Aisin Aw Co Ltd | 運転支援方法及び運転支援装置 |
JP2007274377A (ja) | 2006-03-31 | 2007-10-18 | Denso Corp | 周辺監視装置、プログラム |
US8131542B2 (en) * | 2007-06-08 | 2012-03-06 | Honda Motor Co., Ltd. | Sound source separation system which converges a separation matrix using a dynamic update amount based on a cost function |
JP2009101718A (ja) * | 2007-10-19 | 2009-05-14 | Toyota Industries Corp | 映像表示装置及び映像表示方法 |
EP2285109B1 (en) | 2008-05-29 | 2018-11-28 | Fujitsu Limited | Vehicle image processor, and vehicle image processing system |
JP4709943B2 (ja) * | 2009-02-19 | 2011-06-29 | パナソニック株式会社 | 物体位置推定システム、物体位置推定装置、物体位置推定方法、及び物体位置推定プログラム |
JP5165631B2 (ja) * | 2009-04-14 | 2013-03-21 | 現代自動車株式会社 | 車両周囲画像表示システム |
JP2010274813A (ja) * | 2009-05-29 | 2010-12-09 | Fujitsu Ten Ltd | 画像生成装置及び画像表示システム |
JP5108837B2 (ja) * | 2009-07-13 | 2012-12-26 | クラリオン株式会社 | 車両用死角映像表示システムと車両用死角映像表示方法 |
JP5765995B2 (ja) * | 2011-03-31 | 2015-08-19 | 富士通テン株式会社 | 画像表示システム |
JP2012244600A (ja) * | 2011-05-24 | 2012-12-10 | Fujitsu Ten Ltd | 画像表示システム、画像処理装置、及び、画像表示方法 |
JP5533903B2 (ja) * | 2012-01-27 | 2014-06-25 | トヨタ自動車株式会社 | 車両制御装置 |
JP5981237B2 (ja) * | 2012-06-15 | 2016-08-31 | トヨタ自動車株式会社 | 運転支援装置 |
CN103593836A (zh) * | 2012-08-14 | 2014-02-19 | 无锡维森智能传感技术有限公司 | 一种摄像头参数计算方法及相机确定车体姿态的方法 |
JP6014442B2 (ja) * | 2012-09-27 | 2016-10-25 | 富士通テン株式会社 | 画像生成装置、画像表示システム、および、画像生成方法 |
JP6148887B2 (ja) * | 2013-03-29 | 2017-06-14 | 富士通テン株式会社 | 画像処理装置、画像処理方法、及び、画像処理システム |
WO2017110144A1 (ja) * | 2015-12-22 | 2017-06-29 | 株式会社Jvcケンウッド | 俯瞰映像生成装置、俯瞰映像生成システム、俯瞰映像生成方法およびプログラム |
JP6524922B2 (ja) * | 2016-01-12 | 2019-06-05 | 株式会社デンソー | 運転支援装置、運転支援方法 |
JP6261654B2 (ja) | 2016-05-31 | 2018-01-17 | 株式会社デンソーテン | 表示装置、表示方法及びプログラム |
-
2016
- 2016-12-28 JP JP2016255247A patent/JP6730177B2/ja active Active
-
2017
- 2017-12-07 US US15/834,705 patent/US10611308B2/en active Active
- 2017-12-20 DE DE102017130664.1A patent/DE102017130664A1/de active Pending
- 2017-12-27 CN CN201711448939.4A patent/CN108259879B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002079881A (ja) * | 2000-05-24 | 2002-03-19 | Matsushita Electric Ind Co Ltd | 描画装置 |
JP2005020502A (ja) * | 2003-06-27 | 2005-01-20 | Nippon Seiki Co Ltd | 車両用監視装置 |
JP2007158426A (ja) * | 2005-11-30 | 2007-06-21 | Alpine Electronics Inc | 車両周辺画像表示装置 |
JP2007295357A (ja) * | 2006-04-26 | 2007-11-08 | Alpine Electronics Inc | 車載周辺状況提示装置 |
JP2010109684A (ja) * | 2008-10-30 | 2010-05-13 | Clarion Co Ltd | 車両周辺画像表示システム |
JP2010183234A (ja) * | 2009-02-04 | 2010-08-19 | Panasonic Corp | 描画装置 |
JP2012188057A (ja) * | 2011-03-14 | 2012-10-04 | Panasonic Corp | 表示装置 |
JP2014229102A (ja) * | 2013-05-23 | 2014-12-08 | 日産自動車株式会社 | 車両用表示装置 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10735667B1 (en) | 2019-01-25 | 2020-08-04 | Toyota Jidosha Kabushiki Kaisha | Vehicle surroundings monitoring apparatus |
US10930150B2 (en) | 2019-01-25 | 2021-02-23 | Toyota Jidosha Kabushiki Kaisha | Parking support apparatus |
US11613273B2 (en) | 2019-10-11 | 2023-03-28 | Toyota Jidosha Kabushiki Kaisha | Parking assist apparatus |
US11643070B2 (en) | 2019-10-11 | 2023-05-09 | Toyota Jidosha Kabushiki Kaisha | Parking assist apparatus displaying perpendicular-parallel parking space |
DE102022100464A1 (de) | 2021-01-27 | 2022-07-28 | Toyota Jidosha Kabushiki Kaisha | Parkassistenzvorrichtung |
DE102023133201A1 (de) | 2022-12-07 | 2024-06-13 | Toyota Jidosha Kabushiki Kaisha | Parkunterstützungsvorrichtung, Steuerungsverfahren und nicht-transitorisches Speichermedium |
Also Published As
Publication number | Publication date |
---|---|
CN108259879B (zh) | 2021-06-25 |
DE102017130664A1 (de) | 2018-06-28 |
JP6730177B2 (ja) | 2020-07-29 |
US10611308B2 (en) | 2020-04-07 |
US20180178724A1 (en) | 2018-06-28 |
CN108259879A (zh) | 2018-07-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6730177B2 (ja) | 画像生成装置および画像生成方法 | |
US11657618B2 (en) | Display apparatus | |
US20140114534A1 (en) | Dynamic rearview mirror display features | |
JP4969269B2 (ja) | 画像処理装置 | |
JP6699370B2 (ja) | 車両用画像処理装置 | |
WO2019192359A1 (zh) | 一种车载全景视频显示系统、方法及车载控制器 | |
JP6548900B2 (ja) | 画像生成装置、画像生成方法及びプログラム | |
JP5729158B2 (ja) | 駐車支援装置および駐車支援方法 | |
JP6565148B2 (ja) | 画像表示制御装置および画像表示システム | |
JP6723820B2 (ja) | 画像生成装置、画像表示システムおよび画像表示方法 | |
JP2017517174A (ja) | 車両周辺イメージ生成装置および方法 | |
JP2014100924A (ja) | 運転支援装置、および運転支援方法 | |
JP2011004201A (ja) | 周辺表示装置 | |
JP2004240480A (ja) | 運転支援装置 | |
JP5776995B2 (ja) | 車両用周辺監視装置 | |
JP2012040883A (ja) | 車両周囲画像生成装置 | |
JP4154980B2 (ja) | 移動体周辺監視装置 | |
JP5977130B2 (ja) | 画像生成装置、画像表示システム、および、画像生成方法 | |
JP4927514B2 (ja) | 運転支援装置 | |
JP6258000B2 (ja) | 画像表示システム、画像表示方法及びプログラム | |
JP2008213647A (ja) | 駐車支援方法及び駐車支援装置 | |
JP2018109875A (ja) | 画像処理装置および画像処理方法 | |
US20200231099A1 (en) | Image processing apparatus | |
JP7135378B2 (ja) | 周辺監視装置 | |
JP2017220163A (ja) | 画像生成装置、画像表示システム及び画像生成方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180112 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20181018 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20181023 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20181206 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190507 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190627 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20191105 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200127 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20200204 |
|
A912 | Re-examination (zenchi) completed and case transferred to appeal board |
Free format text: JAPANESE INTERMEDIATE CODE: A912 Effective date: 20200221 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20200702 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6730177 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313117 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |