JP6422077B2 - Overhead image display system, terminal device, and program thereof - Google Patents

Description

  The present invention relates to an overhead image display system, a terminal device, and a program thereof.

  2. Description of the Related Art Conventionally, there is known an overhead image display system that displays an image as if a vehicle is viewed from directly above. The bird's-eye view image display system is a technology in which wide-angle cameras are mounted at least on the front, rear, left and right sides of the vehicle, and the images taken by the cameras in four directions are combined and converted into an image seen from above. By using the overhead image display system, it is possible to view the overhead image while in the vehicle. For example, it is possible to easily carry out parallel parking or garage storage by taking the overhead image into the display of the car navigation system. .

  By the way, when using the bird's-eye view image display system, distortion occurs in a place (joint) where the captured images of a plurality of cameras overlap, and thus the distortion needs to be corrected. For this reason, for example, in Patent Document 1, when it is detected that an obstacle exists in the region corresponding to the joint portion of the overhead view display image, the position that becomes the joint portion of the overhead view display image is changed. A technique for correcting the distortion of the joint portion is disclosed.

JP2007-041791

  A vehicle equipped with a bird's-eye view image display system is usually equipped with a camera that has been calibrated at the time of shipment from the factory. Therefore, when the bird's-eye view image display system is retrofitted as an optional product, Adjustment is required. In addition, the mounting position varies depending on the vehicle type, and it is difficult for the user to accurately specify the installation location of the camera. Further, when the camera is attached to the vehicle body by screwing or the like, there may be a problem in appearance such that after the camera is removed, an attachment mark remains at the attachment location.

  The present invention has been made in view of such a situation, and an object of the present invention is to provide a retrospective bird's-eye view image display system in which the camera mounting position can be easily adjusted.

  In order to solve the above problems, the overhead image display system of the present invention provides the following solution.

  In a bird's-eye view image display system that performs pseudo-display as a bird's-eye view image from above the vehicle by processing captured images obtained from a plurality of photographing devices installed on the front, rear, left, and right of the vehicle, the terminal device having the photographing function; A management server connected to a terminal device via a network and having a database storing optimum installation position information of the plurality of photographing devices for each vehicle, the terminal device for each vehicle type with respect to the management server When the installation position acquisition request of the imaging device is transmitted to the management server and the optimal installation location information of the imaging device is received from the database of the management server, the vehicle is measured by the terminal device based on the captured image. The difference information between the mounting position information of the photographing apparatus and the received optimum installation position information is displayed.

  Further, the terminal device acquires a captured image of the vehicle including the imaging device, measures an attachment position of the imaging device by image processing, and determines the measured attachment position information and the received optimum installation position information. Based on this, the difference information is generated and displayed.

  In addition, the terminal device further includes a position sensor that transmits radio waves, and the terminal device acquires mounting position information of the imaging device by the position sensor from the imaging device, and generates the difference information based on the acquired mounting position information It is characterized by displaying.

  According to another aspect of the present invention, there is provided a terminal device that performs pseudo-image display as an overhead image from above the vehicle by performing image processing on captured images obtained from a plurality of imaging devices installed on the front, rear, left, and right sides of the vehicle. A storage unit storing optimum installation position information of the plurality of imaging devices for each vehicle, a display unit for displaying the overhead image, vehicle type information, and a captured image of the vehicle including the imaging device. And a controller that reads out the optimum installation position information of the photographing apparatus corresponding to the vehicle type information from the storage unit and displays the installation position information on the display unit.

  The installation position information includes contour information for each vehicle, and the control unit combines and displays the contour of the corresponding vehicle type based on the installation position information of the imaging device and the captured image on the display unit. And urging the user to adjust the installation position of the photographing apparatus based on the installation position information.

  According to another aspect of the present invention, there is provided an overhead image display system that performs image processing on captured images obtained from a plurality of imaging devices installed on the front, rear, left, and right sides of the vehicle and displays them as an overhead image from above the vehicle. A terminal device to be used, which transmits a request for acquiring the installation position of the imaging device for each vehicle type to a management server connected via a network, and receives the optimal installation location information of the imaging device from the management server. Communication means; measurement means for measuring an actual installation position of the photographing apparatus; actual installation position information of the photographing apparatus obtained by measurement by the measurement means; and the optimum installation position information received by the communication means; And a control means for displaying the difference information on the display unit.

  According to another aspect of the present invention, there is provided an overhead image display system that performs image processing on captured images obtained from a plurality of imaging devices installed on the front, rear, left, and right sides of the vehicle and displays them as an overhead image from above the vehicle. A terminal device to be used, which transmits a request for acquiring the installation position of the imaging device for each vehicle type to a management server connected via a network, and receives the optimal installation location information of the imaging device from the management server. Communication means; measurement means for measuring an actual installation position of the photographing apparatus; actual installation position information of the photographing apparatus obtained by measurement by the measurement means; and the optimum installation position information received by the communication means; And a control means for displaying the difference information on the display unit.

  A program for a terminal device used in an overhead image display system that performs pseudo-display as an overhead image from above the vehicle by performing image processing on captured images obtained from a plurality of imaging devices installed on the front, rear, left, and right of the vehicle, Means for transmitting an installation position acquisition request of the imaging device for each vehicle type to a management server connected via a network, and receiving optimal installation location information of the imaging device from a database of the management server; The computer functions as means for measuring the actual installation position of the camera, and means for displaying difference information between the actual installation position information of the photographing apparatus obtained by measurement and the received optimal installation position information. It is characterized by that.

  ADVANTAGE OF THE INVENTION According to this invention, the retrofit bird's-eye view image display system with easy camera attachment position adjustment can be provided.

It is an image figure of the bird's-eye view image display system concerning an embodiment of the invention. (A) It is an image figure of the imaging device of the bird's-eye view image display system concerning an embodiment of the invention. (B) It is a rear view of an imaging device. (C) It is the figure which showed the imaging | photography range of the imaging device. (D) It is the image figure which correct | amended the imaging | photography range of the imaging device. It is a block diagram which shows the structure of the bird's-eye view image display system which concerns on 1st Embodiment. It is a figure which shows an example of the data structure of optimal position information DB (database) of FIG. It is a flowchart which shows the processing operation of the bird's-eye view image display system of 1st Embodiment. It is a screen image figure (1) of the terminal device of FIG. It is a screen image figure (2) of the terminal device of FIG. It is an image figure which shows the installation place of the position sensor used in 2nd Embodiment. It is a flowchart which shows the processing operation of the bird's-eye view image display system of 2nd Embodiment. It is a block diagram which shows the structure of the bird's-eye view image display system which concerns on 3rd Embodiment. It is a flowchart which shows the processing operation of the bird's-eye view image display system of 3rd Embodiment. It is an image figure (1) of the display screen of the terminal device at the time of imaging | photography of the bird's-eye view image display system which concerns on 3rd Embodiment. It is an image figure (2) of the display screen of the terminal device at the time of imaging | photography of the bird's-eye view image display system which concerns on 3rd Embodiment.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a mode for carrying out the present invention (hereinafter referred to as this embodiment) will be described in detail with reference to the accompanying drawings. Note that the same numbers or symbols are assigned to the same elements throughout the description of the embodiment.

  FIG. 1 is an image diagram of the overhead image display system according to the present embodiment. Hereinafter, the above system will be referred to as “the present system”.

  In this system, captured images obtained from photographing devices installed at a plurality of locations of a vehicle are subjected to image processing, and are displayed in a pseudo manner as an overhead image from above the vehicle.

  First, the user attaches cameras (photographing devices) to the front, rear, left and right of the vehicle. At this time, the lens of the camera is attached to the ground in an oblique direction. As shown in FIGS. 2A and 2B, the camera used here is detachable from the vehicle and can be manually adjusted in the vertical and horizontal directions. In addition, an attachment portion 15 that can be attached to the vehicle body by a magnet 15a or the like is provided on the rear surface of the camera, so that the camera can be detached from the vehicle body. Note that a double-sided tape or the like may be used together with the mounting portion 15 so that the position does not shift after installation (in FIG. 2B, the double-sided tape 15b can be attached to the outside of the magnet 15a).

  Next, the user activates a bird's-eye view image display application (hereinafter referred to as a dedicated application) that is installed in advance on a terminal device that the user owns, for example, a portable information terminal such as a smartphone, a fablet, or a tablet terminal.

  When the dedicated application is activated, the content displayed on the display of the portable information terminal is switched to a screen for inputting the vehicle type information to receive the service, and the user inputs the vehicle type information and transmits it to the management server. The management server that has received the vehicle type information acquires the optimal position of the camera including the coordinate reference point for each corresponding vehicle type, and transmits it to the portable information terminal. Note that the coordinate reference point here is a reference point for obtaining the coordinates of the installation position of the camera, for example, the center position of the vehicle.

  Subsequently, the portable information terminal that has received the optimum position information saves the information and instructs the user to take a photograph in order to display a photographed image in all directions (front and rear, left and right) of the vehicle. In response to this, the user performs panoramic photography in all directions of the vehicle including cameras installed in the four directions of the vehicle. The dedicated application displays the actual installation position and the optimum position of the camera on the image displayed on the display of the portable information terminal. In the center imaging screen display of FIG. 1, the actual installation position of the camera is represented by □, and the optimum position is represented by a + mark.

  In response to this, the user adjusts the mounting position of the camera. After adjusting the mounting position of the camera, the dedicated application of the portable information terminal converts the plurality of captured images taken into a bird's-eye view image and corrects the joint between the images. Note that this conversion treatment and joint correction are performed by using, for example, the image processing technique of Patent Document 1 presented as the prior art document to image an area where the imaging areas of the hatched portions in FIG. It is processed and converted into one continuous overhead view display image shown in FIG. This makes it possible to provide a bird's-eye view image display system that allows easy adjustment of the camera mounting position. Even if the vehicle is not equipped with a bird's-eye view image display system at the time of shipment from the factory, It can be accurately attached to the appropriate location.

(First embodiment)
FIG. 3 is a block diagram showing the configuration of the overhead image display system according to the first embodiment. As shown in FIG. 3, the system according to the first embodiment performs image processing on captured images obtained from the imaging devices 10 installed at a plurality of locations of the vehicle, and displays them as an overhead image from above the vehicle. This is an overhead image display system. The system of the first embodiment is connected to a plurality of photographing devices 10, a terminal device 30 having a photographing function, and the terminal device 30 via a network, and stores optimal installation position information of the photographing device for each vehicle of the vehicle. Management server 20.

  When the terminal device 30 transmits an installation position acquisition request for the photographing apparatus 10 for each vehicle type to the management server 20, the terminal apparatus 30 receives the optimal installation position information of the photographing apparatus from the management server 20, and measures based on an image obtained by photographing the vehicle. The difference information between the installation position (actual installation position information) of the photographing apparatus 10 to be received and the received optimal installation position information is displayed. Here, the actual installation position information is obtained by extracting an image of the photographing apparatus 10 from an image photographed by the terminal device 30 and detecting the installation position. Details will be described later.

(Configuration of the photographing device)
The imaging device 10 further includes a wireless communication unit 11, an imaging unit 12, a control unit 13, and a battery 14.

  The wireless communication unit 11 is a communication interface for performing wireless communication with the terminal device 30, and is a known wireless communication unit such as Bluetooth (registered trademark) or Wi-Fi (registered trademark).

  The imaging unit 12 is a wide-angle camera having a viewing angle of 180 degrees, and images the surroundings from a place installed in the vehicle. As described above, it is desirable that the direction of the lens of the imaging unit 12 can be manually adjusted in the vertical and horizontal directions. In addition to a camera connected to a wired connection, video transmission and power supply may be performed wirelessly, and a camera capable of transmitting an image wirelessly may also be used.

  The control unit 13 controls an input operation unit (not shown) from the user, acquires imaging data captured by the imaging unit 12, and transmits it to the terminal device 30 via the wireless communication unit 11. The battery 14 is a power source such as a lithium battery or an alkaline battery necessary for photographing with the photographing apparatus 10.

(Management server configuration)
The management server 20 is connected to the terminal device 30 via a network, and stores a database (optimum position information DB 201) that stores optimum installation position information of each of the imaging devices 10 installed at least on the front, rear, left, and right sides of the vehicle body for each vehicle. In addition, a communication unit 21 and a control unit 22 are provided. The optimum position information is represented by relative position coordinates from reference points determined for the front, rear, left, and right for each vehicle.

  The communication unit 21 is a communication interface for performing communication with the terminal device 30 via a network.

  When the control unit 22 receives the vehicle installation position acquisition request for each vehicle type from the terminal device 30, the control unit 22 extracts the optimal installation position information of the designated vehicle from the optimal position information DB 201, and sends the information to the terminal via the communication unit 21. Transmit to device 30.

  The optimum position information DB 201 is a database that stores optimum installation position information of the photographing apparatus 10 for each vehicle type. Although the optimum position varies depending on the vehicle type, the orientation of the lens of the photographing apparatus 10 can be adjusted, and thus it is not always necessary to focus on one point. When there are multiple optimal positions, avoid moving parts such as doors. Generally, a place that is relatively inconspicuous and difficult to peel off is set, such as under a door mirror (the door mirror serves to protect the photographing apparatus). Further, the optimum installation position is not limited to a point, and may be an area within a predetermined range. The reason why the predetermined range is used is that a change occurs due to the performance of the camera and the adjustment by image correction. The optimum installation position range is determined according to the performance.

  In FIG. 4A, reference numerals are assigned to the respective vehicle types, A to C are vehicles having a general size, and D and E are vehicles having a long vehicle body as compared with the general size. . As an example of the data structure shown in FIG. 4B, for example, the front name (front view), rear surface (rear view), and right surface of the vehicle on which the vehicle type name and the photographing apparatus 10 are installed are shown. (Right side view), Left image (left side view) image information, installation position coordinates, and the like are registered. The installation coordinates are relative coordinates when the reference point of the vehicle is (0, 0). The reference point is defined in advance for each vehicle, for example, the center point of the vehicle body.

  More specifically, the image information and the installation position coordinates are registered for each year and type for each vehicle type as shown in FIG. The optimum position information DB 201 is stored in a semiconductor memory, magnetic field, or optical disk mounted on the management server 20. In addition, one imaging device 10 is attached to the front surface (front surface) and the rear surface (rear surface), whereas the right surface (right side surface) and the left surface (left side surface) have the length of the vehicle body. Accordingly, a plurality of photographing devices 10 are attached. For example, in a general size vehicle such as A to C shown in FIG. 4A, there is one photographing device 10, two photographing devices 10 on the D bus, and three photographing devices on the E track. Depending on the length of the vehicle body, the number of imaging devices 10 to be attached can be increased. This is a merit that can only be achieved with a retrofit imaging device. In addition, when a plurality of photographing devices are installed on the side surface, distortion or the like occurs due to the difference in installation position (for example, height), but the image distortion can be reduced by the correction program. By doing in this way, distortion according to the shooting distance due to the length of the vehicle body is eliminated, and clearer image data can be acquired.

  Returning to FIG. 3, the terminal device 30 transmits an installation position acquisition request for the imaging device 10 for each vehicle type to the management server 20, receives optimal installation location information of the imaging device 10 from the management server 20, and the vehicle It has a function of displaying difference information between the attachment position of the photographing apparatus 10 measured based on the photographed image and the received optimum installation position information. The terminal device 30 typically has a wireless communication unit 31 (communication unit), an imaging unit 32, an imaging device position information acquisition unit 33 (measurement unit), an image data correction unit 34, and an input unit 35. A display unit 36, a control unit 37 (control means), and imaging data 38.

  The wireless communication unit 31 is a communication interface when communicating with the imaging device 10 and the management server 20.

  The imaging unit 32 is a general camera provided in the mobile terminal, and performs still image shooting or moving image shooting of the entire vehicle, and transmits the image data to the control unit 37.

  The imaging device position information acquisition unit 33 reads the image data of the vehicle on which the imaging device 10 that was imaged by the imaging unit 32 is installed, and measures the coordinate position on the vehicle body of the imaging device 10 from the image data.

  The image data correction unit 34 receives imaging data 38 captured by the plurality of imaging devices 10 installed in the vehicle from the imaging device 10 and converts them into an overhead image. In addition, a joint of a plurality of overhead images is made into one image, and a joint portion of the image is corrected.

  The input unit 35 captures necessary conditions input by the user and supplies them to the control unit 37 in accordance with a dedicated application installed in advance. The display unit 36 includes a display device such as an LCD (Liquid Crystal Display) or an organic EL (Organic Electro-Luminescence). For example, a shooting screen at the time of vehicle shooting, an input screen for a dedicated application, and installation of the shooting device 10 are provided. Display the position screen. Here, although the input unit 35 and the display unit 36 exist independently, the input unit 35 and the display unit 36 may be configured by a touch panel or the like in which the input unit and the display unit are integrally formed.

  When the control unit 37 acquires an acquisition request for the optimum position information for each vehicle type from the user, the control unit 37 transmits an installation position acquisition request for the imaging device 10 for each vehicle type to the management server 20, and the optimum position information DB 201 of the management server 20 The optimal installation position information of the imaging device 10 is received. Then, based on the image of the vehicle imaged by the imaging unit 32, an instruction to measure the coordinate position is sent to the imaging device position information acquisition unit 33 and received from the management server 20 and the measured mounting position of the imaging device 10. Difference information with the optimum installation position information is displayed on the display unit 36.

  In addition, the control unit 37 acquires a captured image of the vehicle including the imaging device 10, measures the mounting position of the imaging device 10 by image processing, and the measured installation position information and the optimal installation position received from the management server 20. Difference information is generated based on the information. Alternatively, short-range wireless communication with the imaging device 10 may be performed to acquire attachment position information of the imaging device 10 by a position sensor described later, and difference information may be generated based on the acquired attachment position information. Details will be described later with the former as the first embodiment and the latter as the second embodiment.

  The functional configuration of the above embodiment and the embodiments described below is merely an example, and one functional block (database and function processing unit) is divided, or a plurality of functional blocks are combined into one functional block. You may do it. Each function processing unit reads a computer program stored in a storage device such as a ROM (Read Only Memory), flash memory, SSD (Solid State Drive), or hard disk by a CPU (Central Processing Unit) built in the device This is realized by a computer program executed by the CPU. That is, each function processing unit reads and writes necessary data such as a table from a database (DB; Data Base) stored in a storage device or a storage area on a memory, and may be related in some cases. This is realized by controlling hardware (for example, an input / output device, a display device, and a communication interface device). In addition, the database in the embodiment of the present invention may be a commercial database, but it simply means a collection of tables and files, and the internal structure of the database itself does not matter.

  Hereinafter, the processing operation of the overhead image display system of the first embodiment will be described with reference to the flowchart of FIG.

  Here, it is assumed that the imaging device 10 has already been installed in all directions of the vehicle. When the user activates a dedicated application installed in advance on the terminal device 30, a list of vehicle type, year and type information is displayed on the display unit 36 of the terminal device 30.

  When the user selects a vehicle type, year and type information for which a bird's-eye view image is to be displayed, and inputs the information to the input unit 35, the control unit 37 of the terminal device 30 acquires the information and transmits the information to the management server 20 as a wireless communication unit. It transmits via 31 (step S11).

  Next, the control unit 22 of the management server 20 acquires the corresponding optimum position information from the received information from the optimum position information DB 201 and transmits it to the terminal device 30. When receiving the optimal installation position information (step S12), the control unit 37 of the terminal device 30 issues a shooting instruction for the corresponding vehicle (an instruction to shoot a still image or an instruction to shoot a moving image of the entire front / rear / right / left vehicle). The data is output to the display unit 36.

  Subsequently, the user performs still image shooting or moving image shooting of the entire image of the front, rear, left and right vehicles with the camera (imaging unit 32) of the terminal device 30 (step S13). The photographing device position information acquisition unit 33 of the terminal device 30 measures the actual installation position from the photographed image and obtains the coordinates of the installation position of the photographing device 10 (step S14).

  Next, the control unit 37 calculates the difference between the actual installation position in the photographing apparatus 10 and the optimum position information received from the management server 20 (step S15), and displays the difference result on the display unit 36 of the terminal device 30 ( Step S16).

  Here, the displayed image will be described. As an example of the Rear screen, as shown in FIG. 6, the optimum position of the photographing apparatus 10 is displayed on the screen with a symbol “+”, and a symbol (square figure) representing the camera is displayed at the actual installation position. Then, the display unit 36 is caused to output the deviation from the optimum position as character information or voice. In addition, when a moving image is taken, the actual installation position can be moved in real time. Therefore, an enlargement function (such as pinch out) of the display unit 36 of the terminal device 30 is performed, so that a more accurate installation position is taken. The apparatus 10 can be installed.

  In addition, as shown in FIG. 7, it is possible to display an omnidirectional installation position image on the display of the car navigation system by interlocking with a car navigation system (hereinafter, car navigation system) provided in the vehicle. By instructing the installation of each photographing apparatus 10 and confirming the whole image on the display of the car navigation system, the confirmation work becomes easy and the installation time is shortened.

  Returning to the description of FIG. When the user presses the overhead view image display start button displayed on the display unit 36 of the terminal device 30 (step S17), the control unit 37 of the terminal device 30 operates with the omnidirectional imaging device 10 installed on the vehicle body. Send a packet to check if

  The control unit 13 of the imaging device 10 that has received the packet returns the packet to the terminal device 30. When all the omnidirectional cameras (imaging devices 10) are detected (step S18 “YES”), the image data correction unit 34 of the terminal device 30 converts the captured images captured by the cameras in the respective directions into overhead images. (Step S19). Next, the image data correction unit 34 corrects the joints of the converted overhead images and generates an overhead image (step S20). And the control part 37 displays the completed bird's-eye view image on the display part 36 (step S21).

  On the other hand, when even one omnidirectional camera (photographing device 10) cannot be detected (step S18 “NO”), the control unit 37 displays the camera non-installation location on the display unit 36, so that the user can find the non-installation location. The user is prompted to install the camera (step S22). Then, when it is confirmed that the user has installed a camera at a non-installed location (step S23), the process proceeds to step S13.

  According to the bird's-eye view image display system of the first embodiment, the control unit 37 of the terminal device 30 acquires a photographed image of the vehicle including the photographing device 10, measures the attachment position of the photographing device by image processing, and measures the attachment. Difference information is generated based on the position information and the optimum installation position information received from the management server 20 and displayed on the display unit 36. For this reason, the user can easily adjust the mounting position of the photographing apparatus 10 while confirming the display contents. For example, even if the vehicle is not equipped with a bird's-eye view image display system at the time of factory shipment, the camera can be accurately attached to an appropriate location when retrofitted as an option.

(Second Embodiment)
In the second embodiment described below, a position sensor that periodically transmits radio waves is provided at a fixed position of a vehicle, and the imaging device 10 communicates with the position sensor by short-range wireless communication. This is a mode for measuring (detecting) the position of the photographing apparatus. Details will be described below.

  As shown in FIG. 8, for example, position sensors 100 are installed at four ends in the vehicle. Each position sensor 100 transmits a radio wave to the photographing devices 10a to 10d outside the vehicle. The imaging devices 10 a to 10 d can measure their actual installation positions by receiving radio waves from the four position sensors 100. The reason why the four position sensors 100 are installed here is because triangulation is used to accurately measure the position of the photographing apparatus 10. By doing so, it becomes possible to detect the actual installation position of the photographing apparatus 10 more accurately.

  FIG. 9 is a flowchart showing the processing operation of the overhead image display system according to the second embodiment.

  In the second embodiment, only parts different from the first embodiment (FIG. 5) will be described. The other steps are the same as in FIG.

  When receiving the optimal installation position information, the control unit 37 of the terminal device 30 transmits an acquisition request for the actual position information of the photographing apparatus 10 to the photographing apparatus 10 (step S33).

  The control unit 13 of the imaging apparatus 10 that has received the acquisition request for the actual installation position information receives the position information of the position sensor 100 that is periodically sent, and the above-described FIG. The position information is calculated by a measurement method or the like and transmitted to the terminal device 30.

  Next, when the control unit 37 of the terminal device 30 receives the actual installation position information of the imaging device 10 (step S34), the control unit 37 transmits a packet to check whether the imaging device 10 in all directions is installed on the vehicle body and is operating. Send. Step S35 and subsequent steps are the same as those in FIG.

  According to the bird's-eye view image display system according to the second embodiment, the control unit 37 of the terminal device 30 performs near field communication with the imaging device 10 to acquire and manage the mounting position information of the imaging device 10 by the position sensor 100. Difference information is generated and displayed based on the optimum mounting position information received from the server 20. For this reason, the user can easily adjust the mounting position of the photographing apparatus 10 while confirming the display contents. For example, even if the vehicle is not equipped with a bird's-eye view image display system at the time of factory shipment, the camera can be accurately attached to an appropriate location when retrofitted as an option. This is the same as the first embodiment, but in the second embodiment, it is not necessary for the user to take an omnidirectional image of the vehicle. The burden is reduced.

(Third embodiment)
In the third embodiment described below, the optimal position information of the vehicle type owned by the management server 20 is acquired in advance in the terminal device 30 from the optimal position information DB 201, and thereafter the management server 20. This is a bird's-eye view image display system capable of adjusting the mounting position of the photographing apparatus 10 without communicating with the camera. The acquisition of the optimal position information of the vehicle type may be performed by inputting the vehicle type owned by the user when the dedicated application is installed.

  FIG. 10 is a block diagram illustrating a configuration of the overhead image display system according to the third embodiment. In the third embodiment, only parts different from the first embodiment (FIG. 3) will be described.

  When the control unit 37 of the terminal device 30 obtains the installation position acquisition request of the imaging device 10 from the user, the control unit 37 reads the optimal installation location information of the imaging device 10 of the corresponding vehicle type from the storage unit 39 of the terminal device 30 and displays the display unit 36. To display. In addition, the control unit 37 synthesizes and displays the contour image of the corresponding vehicle type based on the installation position information of the photographing apparatus 10 and the photographed image of the vehicle currently photographed by the photographing apparatus 10 on the display unit 36. Control is performed to prompt the user to adjust the installation position of the photographing apparatus based on the position information.

  The memory | storage part 39 memorize | stores the optimal installation position information of the some imaging device 10 for every vehicle. Specifically, the optimum position information including the contour information of the vehicle is stored from the optimum position information DB 201 of the management server 20 based on a user request. Note that, unlike the first embodiment, the imaging device position information acquisition unit 33 does not exist.

  The optimum position information DB 201 of the management server 20 stores contour information for each vehicle in addition to the installation position information described above. In addition, as for the optimum position information for each vehicle, some optimum position information is stored even for the same vehicle depending on the performance of the camera. Since the other various functions have the same functions as those in the first embodiment, description thereof will be omitted.

  FIG. 11 is a flowchart showing the processing operation of the overhead image display system of the third embodiment. Here, the user receives the optimal position information including the contour information for each vehicle from the management server 20 in the storage unit 39 of the terminal device 30 by registering the vehicle information owned by the user in advance in the dedicated application. Shall be kept.

  When the user selects a vehicle type, year and type information for which a bird's-eye view image is to be displayed, and inputs it to the input unit 35, the control unit 37 of the terminal device 30 acquires the information (step S51).

  Next, the control unit 37 displays a screen for inputting camera (imaging device) information to be attached to the vehicle on the display unit 36. The user inputs camera information. The camera information is preferably such that the camera performance such as the camera model number can be specified. For example, information such as the outline of the camera to be attached, the number of pixels of the camera, and a wide angle may be displayed.

  When acquiring the camera information (step S52), the control unit 37 extracts the corresponding optimum installation position information from the storage unit 39 based on the camera information (step S53).

  Next, the control unit 37 displays the optimum installation position and the contour image included in the optimum installation position information extracted from the storage unit 39 on the display unit 36 (step S54), and displays the shooting instruction of the corresponding vehicle. . Subsequently, the user captures an image with the camera (imaging unit 32) of the terminal device 30 based on the contour image displayed on the display unit 36 and the optimum installation position (step S55).

  Here, the displayed image will be described. As shown in FIG. 12, a contour image (shown by a dotted line in the figure) and an image of the optimum installation position are displayed on the display unit 36 of the terminal device 30. The user projects the vehicle on the displayed shooting screen and moves the location so that the projected vehicle and the contour image overlap each other. At this time, the enlargement / reduction function of the camera (imaging unit 32) of the terminal device 30 may be used. And since the user can know the optimal installation position of the camera when the captured image of the vehicle and the displayed contour image overlap each other, the user installs the camera (imaging device 10) based on the displayed captured image ( Step S56).

  Note that the shape of the camera may be specified from the camera information, and the outline of the camera may be displayed together with the optimum installation position. As shown in FIG. 13, a camera contour image 10f (indicated by a dotted line in the figure) is displayed at the optimal installation position of the camera. In this way, if the optimum installation position is displayed not only with + but also with the outline of the camera, it can be easily found even if the camera is mounted with an inclination as indicated by reference numeral 10e. The user can easily determine at which position and at which angle the camera is mounted. Step S57 and subsequent steps are the same as those in FIG.

  According to the bird's-eye view image display system according to the third embodiment, if the optimum position information of the photographing device of the own vehicle is first received from the management server, the bird's-eye view image is not communicated with the management server thereafter. Since a display system can be provided, the load on the management server is reduced as compared with the first and second embodiments. Further, since the actual installation position of the photographing apparatus is not detected as in the first and second embodiments, it is not necessary to display the difference information between the actual installation position and the optimum position.

(Effect of embodiment)
As described above, according to the present system, the detachable camera is used, the optimum installation position information of the camera for each vehicle type is obtained, and the actual installation position and the optimum position are displayed on the terminal device. Even in a vehicle that is not equipped with an overhead image display system at the time of shipment, the overhead image display system can be provided later. Also, by using a magnet (preferably combined with double-sided tape) for attaching and detaching the camera, it becomes possible to attach and detach without damaging the vehicle at the time of removal.

  As mentioned above, although this invention was demonstrated using embodiment, it cannot be overemphasized that the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiments. Further, it is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 10 Imaging device 11 Wireless communication part 12 Imaging part 13 Control part 14 Battery 15 Attachment part 15a Magnet 15b Double-sided tape 20 Management server 21 Communication part 22 Control part 201 Optimal position information DB (optimum position information database)
30 terminal device 31 wireless communication unit (communication means)
32 Imaging unit 33 Imaging device position information acquisition unit (measuring means)
34 Image data correction part 35 Input part 36 Display part 37 Control part (control means)
38 Imaging data 39 Storage unit

Claims (7)

In the overhead image display system that performs pseudo-display as an overhead image from above the vehicle by performing image processing on captured images obtained from a plurality of imaging devices installed on the front, rear, left, and right of the vehicle,
A terminal device having a photographing function;
A management server having a database connected to the terminal device via a network and storing optimum installation position information of the plurality of photographing devices for each vehicle type , and
The terminal device
When an installation position acquisition request for the photographing apparatus is transmitted to the management server for each vehicle type, and the optimal installation position information of the photographing apparatus is received from the database of the management server, the image of the vehicle is captured. And displaying difference information between the mounting position information of the photographing apparatus measured by the terminal device and the received optimal installation position information. The terminal device
Obtaining a photographed image of the vehicle including the photographing device, measuring an attachment position of the photographing device by image processing, and generating the difference information based on the measured attachment position information and the received optimum installation position information The bird's-eye view image display system according to claim 1, wherein the bird's-eye view image display system is displayed. It further includes a position sensor that transmits radio waves,
The terminal device acquires attachment position information of the photographing apparatus by the position sensor from the photographing apparatus, and generates and displays the difference information based on the acquired attachment position information. The bird's-eye view image display system described in 1. A terminal device that performs pseudo-display as an overhead image from above the vehicle by performing image processing on captured images obtained from a plurality of imaging devices installed on the front, rear, left, and right of the vehicle,
A storage unit storing optimum installation position information of the plurality of photographing devices for each vehicle type ;
A display unit for displaying the overhead image;
When the installation position information of the imaging device is acquired from the vehicle type information and the captured image of the vehicle including the imaging device, the optimal installation position information of the imaging device corresponding to the vehicle type information is read from the storage unit, and the display unit A control unit to display;
A terminal device comprising: The installation position information includes contour information for each vehicle,
The controller is
On the display unit, the outline of the corresponding vehicle type based on the installation position information of the imaging apparatus and the captured image are superimposed and displayed, and the user is prompted to adjust the installation position of the imaging apparatus based on the installation position information. The terminal device according to claim 4. A terminal device for use in an overhead image display system that performs pseudo image display from above the vehicle as a bird's-eye view image by processing captured images obtained from a plurality of imaging devices installed on the front, rear, left and right of the vehicle,
Communication means for transmitting an installation position acquisition request of the imaging device for each vehicle type to a management server connected via a network, and receiving optimal installation location information of the imaging device from the management server;
Measuring means for measuring the actual installation position of the imaging device;
Control means for displaying difference information between the actual installation position information of the imaging device obtained by measurement by the measurement means and the optimum installation position information received by the communication means;
A terminal device comprising: A program for a terminal device used in an overhead image display system that performs pseudo-display as an overhead image from above the vehicle by performing image processing on captured images obtained from a plurality of imaging devices installed on the front, rear, left, and right of the vehicle,
Means for transmitting an installation position acquisition request of the imaging apparatus for each vehicle type to a management server connected via a network, and receiving optimum installation position information of the imaging apparatus from the database of the management server;
Means for measuring the actual installation position of the imaging device;
Means for displaying difference information between the actual installation position information of the imaging device obtained by measurement and the received optimal installation position information;
Then, a program for a terminal device, which causes a computer to function.

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