JPWO2017122294A1 - 周囲監視装置、画像処理方法、及び画像処理プログラム - Google Patents
周囲監視装置、画像処理方法、及び画像処理プログラム Download PDFInfo
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 23
- 238000003672 processing method Methods 0.000 title claims description 3
- 239000002131 composite material Substances 0.000 claims abstract description 58
- 238000003384 imaging method Methods 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims description 6
- 239000000203 mixture Substances 0.000 description 25
- 238000000034 method Methods 0.000 description 24
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- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000005413 snowmelt Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- 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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- 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
- B60R1/27—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 providing all-round vision, e.g. using omnidirectional cameras
-
- 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
- B60R1/28—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 an adjustable field of view
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
- E01H5/08—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements
- E01H5/09—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements the elements being rotary or moving along a closed circular path, e.g. rotary cutter, digging wheels
- E01H5/098—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by driven elements the elements being rotary or moving along a closed circular path, e.g. rotary cutter, digging wheels about horizontal or substantially horizontal axises perpendicular or substantially perpendicular to the direction of clearing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/04—Context-preserving transformations, e.g. by using an importance map
- G06T3/047—Fisheye or wide-angle transformations
-
- 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
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- 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
-
- 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
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
-
- 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
- H04N5/272—Means for inserting a foreground image in a background image, i.e. inlay, outlay
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- 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
- 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
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
-
- 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
- B60R2300/602—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 with an adjustable viewpoint
- B60R2300/605—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 with an adjustable viewpoint the adjustment being automatic
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Processing (AREA)
Abstract
Description
11 第2の車体部分
12 除雪装置
21 左カメラ
22 右カメラ
23 前方カメラ
24 後方カメラ
40 角度センサ
41 センサインタフェース
42 カメラインタフェース
43 モニタコントローラ
44 モニタ
45 HDD
46 ROM
47 RAM
48 CPU
49 バス
50 車載装置
51 制御部
52 記憶部
53 表示部
54 操作部
61 車体角度推定部
62 表示パターン決定部
63 画像合成部
64 カメラ画像バッファ
65 合成画像バッファ
66 表示パターン格納部
67 車両モデル格納部
Claims (10)
- 車体屈折車両の第1の車体部分に搭載され、非屈折状態の第2の車体部分が存在する路面領域を見込む視野を撮像領域内に共通に含む2つの画像をそれぞれが撮像する少なくとも2つの撮像装置と、
前記第2の車体部分の前記第1の車体部分に対する屈折角に応じて、前記路面領域に表示する画像として前記2つの画像のうちの一方を選択すると共に、前記2つの画像を合成して前記車体屈折車両の周囲を表示する合成画像を生成する制御部と、
前記合成画像を表示する表示モニタ
を含む周囲監視装置。 - 前記制御部は、前記屈折角に応じて前記車体屈折車両の車両画像を生成し、前記合成画像に前記車両画像を合成する請求項1記載の周囲監視装置。
- 前記制御部は、前記屈折角の大きさに応じた角度で屈折する前記車両画像を生成する請求項2記載の周囲監視装置。
- 前記制御部は、前記屈折角の方向が右屈折を示す場合に前記2つの画像のうちの第1の画像を選択し、前記屈折角の方向が左屈折を示す場合に前記2つの画像のうちの第2の画像を選択し、前記路面領域に表示する画像として、前記選択された第1又は第2の画像中の部分画像を用いるよう構成され、前記部分画像の大きさは前記屈折角の大きさによらず一定である請求項3記載の周囲監視装置。
- 前記制御部は、前記第1の車体部分と前記第2の車体部分との連結部に設けられた角度センサから前記屈折角を示す情報を取得する請求項1乃至4いずれか一項記載の周囲監視装置。
- 前記制御部は、前記車体屈折車両の操舵方向を操作する装置から前記屈折角を示す情報を取得する請求項1乃至4いずれか一項記載の周囲監視装置。
- 前記撮像装置は、前記第2の車体部分の上面より高い位置の前記第1の車体部分に搭載される、請求項1乃至6いずれか一項記載の周囲監視装置。
- 前記車体屈折車両は除雪装置を有する除雪車である請求項1乃至7いずれか一項記載の周囲監視装置。
- 車体屈折車両の第1の車体部分に搭載された2つの撮像装置によりそれぞれ撮像された、非屈折状態の第2の車体部分が存在する路面領域を見込む視野を撮像領域内に共通に含む2つの画像を受け取り、
前記第2の車体部分の前記第1の車体部分に対する屈折角を示す屈折角情報を受け取り、
前記屈折角情報が示す屈折角に応じて、前記路面領域に表示する画像として前記2つの画像のうちの一方を選択すると共に、前記2つの画像を合成して前記車体屈折車両の周囲を表示する合成画像を生成する
各段階を含む画像処理方法。 - 車体屈折車両の第1の車体部分に搭載された2つの撮像装置によりそれぞれ撮像された、非屈折状態の第2の車体部分が存在する路面領域を見込む視野を撮像領域内に共通に含む2つの画像を受け取り、
前記第2の車体部分の前記第1の車体部分に対する屈折角を示す屈折角情報を受け取り、
前記屈折角情報が示す屈折角に応じて、前記路面領域に表示する画像として前記2つの画像のうちの一方を選択すると共に、前記2つの画像を合成して前記車体屈折車両の周囲を表示する合成画像を生成する
各段階をコンピュータに実行させる画像処理プログラム。
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PCT/JP2016/050838 WO2017122294A1 (ja) | 2016-01-13 | 2016-01-13 | 周囲監視装置、画像処理方法、及び画像処理プログラム |
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JPWO2017122294A1 true JPWO2017122294A1 (ja) | 2018-11-08 |
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WO (1) | WO2017122294A1 (ja) |
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JP7106859B2 (ja) * | 2017-12-27 | 2022-07-27 | トヨタ自動車株式会社 | 画像表示装置 |
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DE102019109305A1 (de) * | 2019-04-09 | 2020-10-15 | Claas Selbstfahrende Erntemaschinen Gmbh | Schwenkkraftheber |
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KR102316960B1 (ko) * | 2019-11-28 | 2021-10-22 | 광운대학교 산학협력단 | 무인 항공기 영상 내 실시간 객체 검출 방법 및 장치 |
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CN112308984B (zh) * | 2020-11-03 | 2024-02-02 | 豪威科技(武汉)有限公司 | 车载图像拼接方法、系统以及装置 |
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- 2016-01-13 WO PCT/JP2016/050838 patent/WO2017122294A1/ja active Application Filing
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