KR101230909B1 - Apparatus and method for processing wide angle image - Google Patents

Abstract

The present invention relates to a wide-angle image processing apparatus and a method thereof, which can be quickly and efficiently processed by a simple method when synthesizing a plurality of images obtained from a plurality of wide-angle cameras into a single planarized image. A look-up table storing mapping data of correspondences between pixels of each input image and pixels of the synthesized image when the plurality of input images are converted into one composite image when the plurality of input images are respectively received; An image matching unit constituting a pixel of a composite image for pixels constituting each input image by referring to a lookup table corresponding to the image input from the image receiving unit, and the composite image includes a plurality of divided images And considering the brightness information of the boundary area between the plurality of divided images. It includes a post-processing portion to be corrected.

Description

Vehicle wide-angle image processing device and method thereof {APPARATUS AND METHOD FOR PROCESSING WIDE ANGLE IMAGE}

The present invention relates to an image processing apparatus and method, and more particularly, to a vehicle wide-angle image processing that can be processed quickly and efficiently by a simple method when synthesizing a plurality of images obtained from a plurality of wide-angle cameras into a single planarized image. An apparatus and a method thereof are provided.

Recently, with the development of IT technology, attempts to apply it to vehicles are increasing. For example, a black box device that mounts a camera in a vehicle to record driving conditions or surrounding conditions, or a parking assistance system that installs a camera in the rear of the vehicle to take a rearward image and output it to a display device inside the vehicle when the vehicle is reversed. This trend is reported to be increasing.

Meanwhile, among these technologies, wide-angle cameras are installed in front, rear, left, and right sides of the vehicle, and the images captured from these cameras are reconstructed into images of the form directly above the vehicle, that is, viewed from above, and output to the display device of the vehicle. There has also been proposed a system for the driver's convenience. Such a system is called a bird-eye view system or an AVM (around view monitoring) system in that it provides an image as if the bird is looking down from the sky.

This technique uses a wide-angle camera with a fish eye lens to secure a wider viewing angle. When such a wide-angle camera is used, a distorted image is obtained as the first image, so that the distorted image is free from distortion. This requires a process to calibrate. In addition, such a system requires a process (planarization, homography) of converting the image taken in the horizontal direction on the ground by the plurality of wide-angle cameras installed in the front, rear, left and right sides of the vehicle to the image of the vertical direction from the ground. It requires a complex computational process to perform the transformation. In addition, it requires a single imaging process of rearranging a plurality of planarized images into a single image and processing overlapping portions of the rearranged images.

Therefore, the Bird Eye View system according to the prior art has a problem in that a computational process is very complicated and a number of steps must be processed continuously and in real time, thereby requiring a large amount of computation and requiring high specification and expensive hardware equipment.

An object of the present invention is to provide a wide-angle image processing apparatus and method for synthesizing a plurality of images obtained from a plurality of wide-angle cameras into a single planarized image quickly and efficiently.

The present invention provides a wide-angle image processing apparatus and method for manufacturing an image processing apparatus comprising a plurality of multi-channel input image as a single planarized image at a low cost, and to ensure real-time processing at a lower specification. It is to.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the particular embodiments that are described. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, There will be.

The wide-angle image processing apparatus of the present invention for achieving the above object, the image receiving unit for receiving the input image obtained from the plurality of wide-angle camera, respectively; A lookup table storing mapping data of correspondence relations between pixels of each input image and pixels of the composite image when the plurality of input images are converted into one composite image; An image matching unit constituting a pixel of a synthesized image for pixels constituting each input image by referring to a lookup table corresponding to the image input from the image receiving unit; And the post-processing unit including a plurality of divided images, and correcting the plurality of divided images in consideration of brightness information of boundary regions between the plurality of divided images.

The image processing apparatus may further include an image output unit configured to transmit the synthesized image corrected by the post processor to an external display.

In detail, in the lookup table, circular coordinates for pixels of each input image and final coordinates for pixels of the synthesized image are mapped to each other, and the circular coordinates and final coordinates are mapped in an N: 1 relationship, and the input Only a part of all the pixels of the image is mapped to the pixel of the composite image.

The image matching unit obtains the final coordinates of each pixel of the synthesized image corresponding to the circular coordinates of each pixel constituting the input image through a look-up table, and synthesizes the pixel values of the circular coordinates in the acquired final coordinates. It is characterized by constructing an image.

The post-processing unit corrects the brightness information of the boundary pixels of the boundary regions adjacent to each other in the plurality of divided images equally, and corrects the same by the average value of the brightness information when correcting the boundary pixels. It is done.

Also, scale information obtained by adding or subtracting the boundary pixels to the boundary pixels having the same brightness information is obtained, and based on the obtained scale information, the brightness information of the pixels included in each divided image is changed and corrected. It is characterized by.

The wide-angle image processing method of the present invention for achieving the above object comprises the steps of: receiving respective input images obtained from a plurality of wide-angle camera; Obtaining final coordinates of a synthesized image corresponding to pixels constituting each input image by referring to a lookup table corresponding to the received image; Constructing a pixel of the composite image by recording pixel values of the input image corresponding to the obtained final coordinates; And correcting the plurality of divided images in consideration of brightness information of boundary regions between the plurality of divided images constituting the synthesized image, wherein the synthesized image includes a plurality of divided images. .

In detail, the lookup table comprises: a distortion correction step of correcting distortion of each of a plurality of input images obtained from a wide angle camera; Planarization of each of the distortion-corrected input images; A rearrangement step of rearranging each of the planarized input images; And a single imaging step of synthesizing the rearranged image into a single image, and inversely calculating a relationship in which respective pixels constituting the sample output image generated by the steps correspond to pixels of a plurality of input images. It is characterized in that it is generated by.

The lookup table determines which wide-angle camera each pixel constituting the sample output image is obtained from, and sequentially performs inverse operations on the single imaging step, rearrangement step, planarization step, and distortion correction step. It is characterized in that it is generated by.

As described above, the present invention can construct a plurality of images acquired from a plurality of wide-angle cameras into a single planarized image quickly and efficiently.

In addition, according to the present invention, it is possible to manufacture an image processing apparatus constituting a plurality of multi-channel input image as a single planarized image at a low cost, and there is an advantage that real-time processing can be guaranteed even at a lower specification.

1 is a view showing the basic process of the conventional image synthesis system and the image of each process.
2 is a block diagram illustrating an apparatus for processing images acquired from a plurality of wide-angle cameras according to an embodiment of the present invention.
3 is a diagram illustrating an example of a lookup table used in the present invention.
4 is a flowchart illustrating a process of generating a lookup table according to the present invention.
5 is a flowchart illustrating a process of processing images acquired from a plurality of wide-angle cameras according to an embodiment of the present invention.
6 is a diagram illustrating an example of a composite image generated by the present invention.
7A and 7B are enlarged views of a boundary area between the segmented image 1 and the segmented image 4 illustrated in FIG. 6.
8 shows a graph of a Gaussian function.
9 is a diagram illustrating an example of a corrected output composite image.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like elements in the figures are denoted by the same reference numerals wherever possible. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

First, prior to explaining the embodiment according to the present invention, the principle of the prior art related to the present invention will be described schematically.

As described above, a wide-angle camera having fisheye lenses respectively installed on the front, rear, left side, and right side of the vehicle to shoot an image in the horizontal direction on the ground, and reconstruct it into a form looking down from the top of the vehicle. (Hereinafter, such a conventional technique is referred to simply as an 'image synthesis system' for convenience). The basic process of the conventional image synthesis system and the image for each process are illustrated in FIG. 1.

Referring to FIG. 1, a conventional image synthesis system is composed of six steps, an image input step S10, a distortion correction step S11, a planarization step S12, a rearrangement step S13, and a single imaging step S14. ) And a single image output step (S15).

The image input step S10 is a process of inputting a plurality of images obtained from a plurality of wide-angle cameras. For example, when a plurality of cameras are mounted on an object that is a vehicle, a wide-angle camera may be mounted on the front / rear / left side / right side of the vehicle, and the captured image is displayed as shown in FIG. 1. As described above, since the wide-angle camera has a fisheye lens, a wide field of view can be secured. In order to construct a single planarized image as described later by an image around a target object, certain areas overlap each other. This is because each camera must have a wide viewing angle in order to reconstruct the image with fewer cameras despite the overlapping area.

In the present invention, the camera is used as a concept including not only a fisheye lens but also other electrical devices such as an image sensor. In other words, it is not merely a mechanism for optically acquiring an image, but an apparatus for converting an optical signal into an electrical signal, for example, as shown in FIG. It is used as a concept that means a means to do.

Next, the distortion correction step (S11) can ensure a wide viewing angle when using a wide-angle camera equipped with a fisheye lens to use only as few cameras as possible as described above, but toward the edge of the acquired image The image is distorted radially. The distortion correction step S11 is a process for correcting such a distorted image. Distortion correction by fisheye lens can be largely divided into 'Equi-solid Angle Projection' and 'Orthographic Projection', which define how to rearrange the light coming into the fisheye lens when manufacturing the fisheye lens. The fisheye lens manufacturer manufactures the fisheye lens by selecting one of two methods in manufacturing the fisheye lens. Therefore, if the inverse operation of the distortion operation is obtained according to the distortion method applied to the fisheye lens, and the image transformed by the fisheye lens is inversely transformed, an image of 'distortion correction' can be obtained, and the converted image is called a 'distortion correction image'. The distortion corrected image may be displayed as shown in FIG. 1.

As the equation for performing the distortion correction, for example, Equation 1 below may be used.

Equation 1

Here, f is the focal length of the camera, R _f is the distance from the camera's optical center to the (x, y) coordinates of the _{input image} , that is ( X _{input image} , Y _{input image} ), X _{input image} and Y _{input image} of the input image is (x, y) coordinates, x and Y _{distortion correction image distortion correction image} is distortion-corrected image (x, y) coordinates.

Next, when the distortion correction image is obtained, a plane (homography) process is performed (S12). The planarization process S12 is a process of converting an object onto an object, that is, an object on which a camera is mounted, into an image looking downward in a direction toward the ground, that is, vertically.

As described above, since the distortion correction image obtained in the distortion correction step S11 corresponds to an image photographed at different viewpoints for each camera, these images are converted into an image of one viewpoint, that is, a vertically viewed viewpoint. The process is the planarization step S12. An image generated by performing the flattening step S12 is called a flattened image, and an image after performing the flattening step S12 may be displayed as shown in FIG. 1.

In the planarization step, for example, Equation 2 below may be used.

Equation 2

Wherein, X _{distortion correction image} and the Y _{distortion correction image} of the distortion correction image obtained by the formula 1 and the (x, y) coordinates, X _{flattened image} and the Y _{flattened image} of the flattened image converted by the equation (2) (x, y) coordinates, where h ₁₁ , h ₁₂ , ..., h ₃₃ represent the planarization transform coefficients (called perspective transforms).

Next, when a planarized image is obtained, an rearrangement step (Affine transform) is performed (S13). The rearrangement step S13 is to rearrange the planarized images generated in the planarization step by applying only displacement movement and rotation, wherein the images photographed to surround the object are reconstructed into surrounding images except for the object. The rearrangement step S13 may be performed by only moving and rotating the pixel. For this, a method such as an affine transform may be used. An image generated through the rearrangement is called a rearrangement image, and the rearrangement image may be displayed as shown in FIG. 1.

Equation 3 below may be used in the rearrangement step.

Equation 3

Here, X _{flattened image} and the Y _{flattened image} of the flattened image converted by the equation (2) and (x, y) coordinates, X _{rearranged video} and Y _{rearranged image} is rearranged images are converted by Equation 3 ( x, y) is a coordinate value, r ₁₁ , r ₁₂ , r ₂₁ , and r ₂₂ are rotation transformation coefficients, and t _x and t _y are displacement displacement coefficients (that is, r and t are defined as affine transforms).

Next, a single imaging step S14 is performed. Since the rearranged images are merely rearranged images, the images photographed around the object have a common area and the common areas are arranged to overlap each other. Therefore, a single imaging step is needed to process overlapping portions of the rearranged image having the common area to obtain one representative image for the common area. Since a single imaging step can use several implementations and can vary depending on the implementation, only the implementation principle is briefly described.

When a common area occurs, the single imaging step divides the common area into pixels and analyzes the pixel to form a single image area using only pixels arranged at a more accurate position. The reference for the pixels arranged at the correct position may be various. The simplest reference may be, for example, the distance between the pixel and the optical center of the image to which the pixel belongs. By using this criterion, if the common region is reconstructed using only pixels closer to the optical center among the overlapping pixels of the common region, the rearranged image may be configured as a single image without overlapping regions. An image generated through a single imaging step is called a single image and may be displayed as shown in FIG. 1.

When the single imaging step (S14) is performed as described above, a flattened single image is obtained, and when the output is made (S15), the image of the shape as viewed from the vertical upper direction of the target object as shown in FIG. You will be able to see

On the other hand, the above-described formula (1), (2) and (3) are used by the prior art, and are not directly related to the present invention, detailed description thereof is omitted. In particular, each of the coefficients in Equations 2 and 3 may be determined differently according to the method or algorithm used, and the present invention is not related to the method of calculating such coefficients itself and may be used regardless of which equation is used as described below. Since it is characterized in that the inverse operation of the equation is to be omitted the detailed description.

2 is a block diagram illustrating a wide-angle camera and a wide-angle image processing apparatus according to an exemplary embodiment of the present invention.

Referring to FIG. 2, an apparatus 100 for processing images acquired from a plurality of wide-angle cameras 10 (hereinafter, referred to as an image processing apparatus) may include an image receiver 110, a look-up table 130, and a look-up table 130. An image matching unit 150, a post processor 170, and an image output unit 190 are provided.

The wide-angle camera 10 is composed of at least two or more respectively installed at a predetermined position of the vehicle, and photographs each front image, converts it into an electrical signal, and transmits it to the image receiving unit 110. Here, when the wide-angle camera 10 is four, it is preferable that the photographing areas are partially overlapped between adjacent wide-angle cameras.

As described above, the wide-angle camera 10 is a concept including not only a simple optical device but also an electrical device such as an image sensor for converting an optical signal into an electrical signal. For example, when the object is a vehicle, the wide-angle camera may be disposed at the front / rear / left side / right side of the vehicle, and each camera is disposed such that the photographing area overlaps at least a portion between adjacent cameras.

The image receiver 110 is a means for respectively receiving at least two or more input images obtained from the plurality of wide-angle cameras 10, and transmits the received plurality of input images to the image matching unit 150. If necessary, the image receiver 110 may perform an image preprocessing process using a filter or the like.

The lookup table 130 is a means for storing image mapping data of a relationship in which respective pixels constituting the plurality of input images obtained from the plurality of wide-angle cameras 10 correspond to pixels of the composite image. It can be configured in the same form.

Referring to FIG. 3, the lookup table 130 may include a final coordinate (pixel) of a pixel of the synthesized image with respect to the coordinates (x, y) of the pixels constituting the plurality of input images obtained from the plurality of wide-angle cameras 10. t11, t12, ..., tmn) can be regarded as a kind of mapping table that defines the relationship. In FIG. 3, each of the final coordinates t11, t12,..., Tmn of the synthesized image may correspond to a plurality of input images. As described above, since the image obtained by the wide-angle camera is a distorted image having a wide viewing angle, when the image is flattened, the pixels of each image are not only 1: 1 but also N (circular coordinates): 1 (final). This is because there is a case in which the relationship is associated with the coordinates). For example, the final coordinate T11 may correspond to three input circular coordinates ((x ₁ , y ₂ ), (x ₃ , y ₅ ), (x ₄ , y ₆ )). Of course, in some cases, for example, when the resolution of the output image is very large compared to the input image, it may be mapped to 1 (circle coordinate): N (final coordinate). The lookup table 130 includes the number of input images acquired from the wide-angle camera 10, that is, the number of cameras 10, and includes coordinate values of the composite image corresponding to each input image.

A process of generating the lookup table 130 will now be described.

As described with reference to FIG. 1, the conventional image synthesis system includes an image input step S10, a distortion correction step S11, a flattening step S12, a rearrangement step S13, a single imaging step S14, and a single image combining step S14. Through the process of outputting an image (S15), each input image acquired from a plurality of cameras is generated as a single planarized image (composite image). In order to generate the lookup table 130, the sample output image generated through each of these steps S10 to S15 may be used. That is, in each of the steps (S10 ~ S15), the distortion correction step (S11), planarizing step (S12) and rearrangement step (S13) is performed using a formula suitable for each step as described above, When an inverse operation of this operation is performed on each pixel of the sample output image, coordinates of each pixel of the input image corresponding to each pixel of the output image may be obtained.

A process of generating the lookup table 130 is illustrated in FIG. 4.

Referring to FIG. 4, first, one pixel among pixels constituting an output image of a sample is selected (S101). The pixel is selected based on the coordinates, and the coordinates become final coordinates of the output image.

When the pixel is selected, it is determined from which of the plurality of wide-angle cameras 10 the selected pixel is generated (S102). This can be seen as an inverse process of the single imaging step S14 of FIG. 1. In the single imaging step, as described above, only one pixel among overlapping areas is determined based on a predetermined criterion, so that the pixel selected in the step S102 is selected. It can be seen as figuring out which camera it came from in a single imaging step. As a method for performing this, it is easy to add an identifier for identifying a camera to an input image generated from a plurality of wide-angle cameras, and to identify the identifier later. That is, when performing the process described with reference to FIG. 1, it may be achieved by using, together with each image, an identifier for distinguishing a camera generating each input image.

Next, the inverse operation of the equation used in the rearrangement step (S13) is applied (S103). As illustrated in FIG. 1, for example, if Equation 3 is used in the rearrangement step S13, the inverse operation of Equation 3 may be defined as Equation 4 below.

Equation 4

Next, the inverse operation of Equation 2 used in the planarization step S12 is applied (S104). In addition, as described in FIG. 1, if Equation 2 is used in the planarization step S12, the inverse operation of Equation 2 may be defined as Equation 5 below.

Equation 5

Next, the inverse operation of the equation used in the distortion correction step S11 is applied (S105). Also, if Equation 1 is used in the distortion correction step S11 as described with reference to FIG. 1, the inverse operation of Equation 1 may be defined as Equation 6 below.

Equation 6

Here, R _p means the distance from the optical center of the camera to the (x, y) coordinate value of the _{distortion correction image} , that is, ( X _{distortion correction image} , Y _{distortion correction image} ).

When this process is performed, it is possible to know where the final coordinate of the pixel selected in the step S101 is the original coordinate in the input image acquired by the camera. Therefore, the circular coordinate corresponding to the final coordinate of the specific pixel is obtained and recorded (S106).

This process is sequentially performed on all pixels of the synthesized image (output image of the sample) to obtain a circular coordinate corresponding to the final coordinate of an arbitrary pixel (S107).

The circular coordinates obtained in this manner may be mapped to the final coordinates of the corresponding pixel to generate a lookup table (LUT) as shown in FIG. 3 (S108). Here, not all pixels of the input image are mapped to final coordinates of the synthesized image. This means that unnecessary pixels in the input image may be discarded without corresponding to the final coordinates. Generally, only pixels in a certain area of the input image, that is, about 20% to 50% of pixels, are converted to the composite image. Therefore, the mapping process is performed only on the pixels of the input image converted into the composite image with reference to the lookup table 130. As a result, the image processing load and time can be reduced accordingly.

Meanwhile, Equations 4 to 6 describe the inverse operations of Equations 1 to 3 described above, and these are also illustrative and not limited thereto. It should be noted that Equations 4 to 6 are defined by their inverse operations whatever Equations 1 to 3 used.

Referring back to FIG. 2, the image matching unit 150 receives a plurality of input images from the image receiving unit 110, and configures each pixel constituting the input image by referring to the lookup table 130 generated as described above. Pixels of the composite image for the image are configured. That is, the image matching unit 150 may obtain the final coordinates of the synthesized image corresponding to the circular coordinates of each pixel constituting the input image based on the lookup table 130 as shown in FIG. 3. The composite image is constructed by recording the pixel value (pixel data) of the input image corresponding thereto in the final coordinates of each pixel of the composite image thus obtained.

When this process is performed on all the pixels of each input image, each pixel value of the corresponding input image can be recorded in each final coordinate of all the pixels constituting the composite image. You can create it.

The post-processing unit 170 considers the brightness information of the boundary region between the plurality of divided images constituting the synthesized image from the synthesized image generated by the image matching unit 150 and the boundary region and the internal region of the plurality of divided images. Image data is corrected. The post-processing unit 170 has the same brightness information of the boundary pixels of the adjacent divided images as the brightness information of the boundary pixels constituting the boundary area with other adjacent divided images for each of the plurality of divided images. Correct it so that

The image output unit 190 generates an output image based on the composite image corrected by the post processor 170 and outputs the output image to an external display device such as an LCD monitor.

FIG. 5 is a flowchart for processing images acquired from a plurality of wide-angle cameras according to an embodiment of the present invention, and will be described with reference to FIGS. 2 and 3.

First, the image receiving unit 110 receives an image acquired through any one of the plurality of wide-angle cameras 10 and outputs the image to the image matching unit 150.

The image matcher 150 selects any one pixel among pixels constituting the input image acquired through the image receiver 110 (S111). Here, the image matching unit 150 may be selected based on the circular coordinates ( x _m , y _n ) implemented in the lookup table 130 when selecting a specific pixel of the input image. This means that only a specific pixel is selected among the pixels of the input image. Since not all pixels of the input image are selected, the mapping time between the circular coordinates and the final coordinates can be further shortened.

When any one of the pixels is selected, the image matching unit 150 obtains the final coordinates of the synthesized image corresponding to the original coordinates of the selected pixel with reference to the lookup table 130 (S112).

When the final coordinate is obtained, the image matching unit 150 records the pixel value of the selected pixel in the final coordinate of the obtained composite image (S113). When the above process is performed for all the pixels set for each input image, all the set pixels are moved to the final coordinates of the composite image. All the pixels set above are pixels of the circular coordinate mapped to the final coordinate in the lookup table 130.

When all of these processes are performed on the remaining wide-angle cameras (S114), all pixels set for each input image correspond to all pixels constituting the composite image, and thus pixel values for all pixels of the composite image ( Pixel data) can be generated (S115).

Subsequently, the post-processing unit 170 receives the composite image generated by the image matching unit 150, and considers the boundary information of the plurality of divided images in consideration of brightness information of the boundary region between the plurality of divided images constituting the composite image. A post-processing process of correcting image data of the region and the internal region is performed (S116). That is, the post-processing unit 170 has the same brightness information of the boundary pixels constituting the boundary area with the other divided images adjacent to each of the plurality of divided images and the brightness information of the boundary pixels of the other divided images. To be corrected.

Here, the composite image is composed of a plurality of divided images. In the present invention, the divided image refers to a separate divided image constituting the composite image, which will be described with reference to FIG. 6.

FIG. 6 illustrates an example of a composite image generated through the processes S111 to S115 of FIG. 5, and is synthesized from input images acquired by four wide-angle cameras installed in a vehicle in a front / rear / left / right direction. This is a case where an image is generated.

In FIG. 6, the black part in the center represents a vehicle. When viewed from the center of the vehicle, the images are separated by the diagonal diagonal lines between the front, left, right and rear sides. It can be seen that the image represents an unnatural composite image. As described above, the image processing apparatus 100 composes a composite image by using images acquired by different separate wide-angle cameras, and selects one representative image for the overlapping regions and joins them together. Because it creates a composite image, each image gives the feeling of being separated from each other.

In the present invention, the composite image refers to the entire image of the form as shown in FIG. 6, and the split image refers to each of four images divided by diagonal lines in FIG. 6, and the front image in FIG. 6. Are shown as divided images 1, 2, 3, and 4 in the clockwise direction.

The post processor 170 generates final composite image data by correcting the plurality of divided image data and the synthesized image data in consideration of the brightness information of the boundary area between the plurality of divided images constituting the composite image.

This process will be described in more detail with reference to FIGS. 7A and 7B.

FIG. 7A is an enlarged view of a boundary area between the segmented image 1 and the segmented image 4 shown in FIG. 6, and FIG. 7B is a diagram showing red (divided image 1; top solid line) and blue (boundary pixels included in the boundary region of FIG. 7A). Divided image 4 (bottom line).

Brightness information of a part of each of the boundary pixels shown in red and blue shown in FIG. 7B may be configured as shown in Table 1 below.

Border brightness Split image 1
(Red border pixel) 173 174 174 175 176 ... Split image 4
(Blue border pixel) 160 161 158 165 167 ...

As shown in Table 1, it can be seen that the brightness information of the boundary pixels of the boundary region is different from each other to a certain degree among the divided images. Therefore, in order to make them identical to each other and to make them the same, the scale information corresponding to the value added or subtracted from the brightness information is calculated, and the brightness information is adjusted for the internal pixels included in each of the divided images according to the scale information. As a result, the boundary regions of the divided images may appear naturally.

For example, referring to the divided image 1 of FIG. 6, the divided image 1 is adjacent to the divided image 4 and the divided image 2. The boundary pixels of the boundary regions of the divided image 1 and the divided image 4 which are in contact with each other may be displayed as shown in FIG. 7B, and the boundary pixels of the boundary regions of the divided image 1 and the divided image 2 may be displayed in the same manner.

Brightness information of the boundary pixels of the boundary regions of each of the segmented image 1 and the segmented image 4 may be configured as shown in Table 1, and brightness information of the boundary pixels of the boundary regions of each of the segmented image 1 and the segmented image 2 is also similar to that of FIG. 5. You can see that.

First, equalizing the brightness information of the boundary pixels of the boundary area between the divided image 1 and the divided image 4 may be configured by an average value of the brightness information of adjacent boundary pixels. For example, in the case of Table 1, the average value shown in Table 2 can be obtained, and the brightness information can be equalized by adding or subtracting the difference from the average value to each of the boundary pixels. Table 2 also shows these added and demanded values.

Border Pixel brightness Split image 1
(Red border pixel) 173 174 174 175 176 ... Split image 4
(Blue border pixel) 160 161 158 165 167 ... medium 166 167 166 170 171 ... Acceleration and demand
(Split image 1) -7 -7 -8 -5 -5 ... Acceleration and demand
(Split image 4) +6 +6 +8 +5 +4 ...

After the brightness information is the same for the boundary pixels, the brightness information is also adjusted for the internal pixels of the divided image 1. Referring to the divided image 1, as described above, the boundary pixels of the divided image 1 may have the same brightness information as the boundary pixels of the divided image 4. The brightness information may be gradually changed for pixels included in the divided image 1 from the boundary pixels based on the obtained scale information.

In this case, the scale information may be calculated by, for example, a Gaussian function.

The Gaussian function G (x) is expressed by Equation 7 as follows.

Equation 7

Here, when sigma = 1, G (x) may be represented as a graph as shown in FIG. 8 as a value as shown in Table 3 (representing a function value of the Gaussian function).

x -3 -2 -One 0 One 2 3 G (x) 0.006 0.061 0.242 0.383 0.242 0.061 0.006

Of these Gaussian functions, only one side based on the axis of symmetry, that is, x≥0, is used, and the value added or subtracted from the brightness information of the boundary pixels is scaled by the value at the x = 0 position of the Gaussian function, Based on the scaling by the Gaussian function gradually toward the inside of the divided image, the brightness information of the pixels inside the divided image can be naturally adjusted in the form as shown in the graph of the Gaussian function.

For example, in Table 2, the addition / decrease requirement values of the split image 1 are -7, -7, -8, -5, -5, and the values are added to the Gaussian function values shown in Table 3 and FIG. Can be obtained as in the following example).

X position 0 One G (x) 0.383 0.242 Scale information
(Scalar) Boundary Pixel Acceleration / Requirement Value (0) Internal pixel
Acceleration / requirement value (1) -18.277 -7.000 -4.423 -18.277 -7.000 -4.423 -18.277 -7.000 -4.423 -20.888 -8,000 -5.055 -13.055 -5.000 -3.159 -10.444 -4.000 -2.527 -10.444 -4.000 -2.527 -13.055 -5.000 -3.159 -10.444 -4.000 -2.527 -7.833 -3.000 -1.896 -7.833 -3.000 -1.896

That is, since the value of the original Gaussian function when x = 0 is G (0) = 0.383, in order to be G (x) =-7, 0.383 needs to be multiplied by -18.277 to satisfy G (x) =-7. Done. Therefore, -18.277 at this time becomes a scale value. Therefore, multiplying these scale values by the Gaussian function values G (1), G (2), G (3) ... corresponding to x = 1, 2, 3 ... sequentially yields x = 1, 2, For the pixels corresponding to 3, the required value of the brightness information to be added or subtracted can be obtained in the form of a Gaussian function.

As shown in Table 4, since the acceleration / requirement value is -7 for the first boundary pixel, the scale value at this time is -18.277, and if it is multiplied by a Gaussian function value when x = 1, the first boundary pixel is x = 1. The brightness control addition / decrease request value -4.423 for the internal pixels of the adjacent divided images 1 can be obtained, and the brightness information is changed for the pixel corresponding to x = 1 by this value. By sequentially performing this for x = 2, 3, 4 ..., all of the brightness information addition / requirement values for the pixels from the first boundary pixel toward the divided image can be obtained.

Similarly, in the case of G (x) =-8, since the scale value is -20.088, it is possible to know the brightness control acceleration / request value by sequentially multiplying the Gaussian function value by this value for adjacent pixels for the boundary pixel. Referring to Table 4, it can be seen that the acceleration / decrease value at x = 1 in this case is -5.055.

As described in Table 4, the necessary scale values for all the boundary pixels of the divided image 1 can be obtained by using the Gaussian function. A value can be obtained. By applying this value, the correction can be performed so that the brightness information gradually changes naturally from the boundary area toward the inside of the divided image 1.

On the other hand, in the divided image 1, it may be determined to which extent the brightness information is adjusted by applying the above-described application / request values to the inside of the divided image 1 from the boundary pixels. For example, the process may be performed up to half of the narrowest row or column size, or may be configured to perform the process up to half of the distance between pixels from the midpoint between each boundary region to each boundary region.

In summary, first, the divided image 1 equalizes brightness information between the boundary pixels in consideration of the boundary pixels of the divided image 4 and the divided image 2, and then, the above-described pixels of the interior of the divided image 1 are described above. In this manner, the brightness information is gradually adjusted using the scale information. Similarly, the split image 2 performs the above process considering the split image 1 and the split image 3, the split image 3 considers the split image 2 and the split image 4, and the split image 4 considers the split image 3 and the split image 1. By performing the above-described process, the brightness information is corrected by adjusting the brightness information for the entire image.

As such, when the correction of the brightness information is completed for each of the divided images, the divided image data of each of the divided images reflecting the corrected brightness information is configured, thereby generating the synthesized image data of the entire synthesized image, and the image The output unit 190 transmits.

Referring back to FIG. 2, the image output unit 190 generates an output image based on the composite image data corrected by the post-processing unit 170 and outputs the output image to an external display device such as an LCD monitor. Do this.

FIG. 9 illustrates an image output from the image output unit 190 based on the corrected composite image as described above. The boundary regions between the divided images are naturally connected and appear as one screen as a whole. You can check it.

로 표현되는 시그모이드(sigmoid) 함수나, 1차 또는 2차 함수를 이용할 수도 있다. 또한, 예컨대

등과 같은 함수를 이용할 수도 있다.Meanwhile, although scale information is calculated using a Gaussian function in the above embodiment, the present invention is not limited thereto.

It is also possible to use a sigmoid (sigmoid) function, or a linear or quadratic function. Also, for example

You can also use functions such as

In the above, the present invention has been described with reference to preferred embodiments, but the present invention is not limited to the above embodiments, and those skilled in the art to which the present invention pertains may make various modifications and variations from such descriptions. will be. For example, Equations 1 to 7 in each of the above-described steps are exemplary and other equations other than such equations may be used. It should be noted that the present invention is not particularly limited to each of these stepwise equations, and that the lookup table 130 is generated using the inverse of the equation used regardless of which equation is used. .

The formula used in each step may be used as long as it can perform the operation in each step as described above in any form known in the prior art.

10: a plurality of wide-angle camera 100: image processing apparatus
110: video signal receiver 130: look-up table
150: image synthesis unit 170: post-processing unit
190: image output unit

Claims (20)

An image receiving unit for receiving input images obtained from four wide-angle cameras respectively installed at the front, rear, left, and right sides of the vehicle;
A lookup table storing coordinate mapping data of a correspondence relationship between pixels of each input image and pixels of the composite image when the plurality of input images are converted into a flattened composite image;
An image matching unit constituting a pixel of a synthesized image for pixels constituting each input image by referring to mapping coordinates of a lookup table corresponding to the image input from the image receiving unit; And
And a post-processing unit configured to include a plurality of divided images, and correcting the plurality of divided images in consideration of brightness information of boundary regions between the plurality of divided images.
The lookup table may include a circular coordinate for pixels of each input image and a final coordinate for pixels of the composite image mapped to each other in a 1: 1 to N: 1 relationship (where N is the number of circular coordinates). Wide angle image processing device.
The method of claim 1,
The image processing apparatus may further include an image output unit configured to receive the composite image corrected by the post-processing unit, generate an output image, and transmit the generated image to an external display.
delete delete The method of claim 1,
And a part of all the pixels of the input image is mapped to the pixels of the composite image.
The method of claim 1,
The image matching unit obtains the final coordinates of each pixel of the synthesized image corresponding to the circular coordinates of each pixel constituting the input image through a look-up table, and synthesizes the pixel values of the circular coordinates in the acquired final coordinates. Wide angle image processing apparatus for a vehicle constituting the image.
The method of claim 1,
The post-processing unit, the wide-angle image processing apparatus for a vehicle to equally correct the brightness information of the boundary pixels for the adjacent boundary areas in the plurality of divided images.
The method of claim 7, wherein
And correcting the boundary pixels equally by an average value of brightness information of the boundary points.
The method of claim 8,
Obtaining scale information subtracted or decremented based on an average value of the boundary pixels with respect to the boundary pixel that is equally corrected above, and changing and correcting brightness information of pixels included in each divided image based on the obtained scale information Vehicle wide-angle image processing device.
The method of claim 9,
And the scale information is calculated by a Gaussian function.
The method of claim 1,
The plurality of wide-angle camera is a wide-angle image processing apparatus for a vehicle is disposed so that the photographing area partially overlaps between adjacent cameras.
The method of claim 11,
And the plurality of wide-angle cameras are installed at front, rear, left and right sides of the vehicle, respectively.
Receiving input images obtained from four wide-angle cameras respectively installed at front, rear, left, and right sides of the vehicle;
Obtaining final coordinates of the planarized composite image corresponding to the pixels constituting each input image by referring to mapping coordinates of the lookup table corresponding to the received image;
Constructing a pixel of the composite image by recording pixel values of the input image corresponding to the obtained final coordinates; And
Comprising: The composite image is composed of a plurality of divided images, correcting the plurality of divided images in consideration of the brightness information of the boundary region between the plurality of divided images constituting the composite image;
The lookup table may include a circular coordinate for pixels of each input image and a final coordinate for pixels of the composite image mapped to each other in a 1: 1 to N: 1 relationship (where N is the number of circular coordinates). Wide angle image processing method.
The method of claim 13,
The lookup table includes a distortion correction step of correcting distortion of each of a plurality of input images obtained from a wide angle camera; Planarization of each of the distortion-corrected input images; A rearrangement step of rearranging each of the planarized input images; And a single imaging step of synthesizing the rearranged image into a single image, and inversely calculating a relationship in which respective pixels constituting the sample output image generated by the steps correspond to pixels of a plurality of input images. Wide angle image processing method for a vehicle generated by.
15. The method of claim 14,
The lookup table determines which wide-angle camera each pixel constituting the sample output image is obtained from, and sequentially performs inverse operations on the single imaging step, rearrangement step, planarization step, and distortion correction step. Wide angle image processing method for a vehicle generated by.
delete The method of claim 13,
And some of the pixels of the input image are mapped to the pixels of the composite image.
The method of claim 13,
When correcting the plurality of divided images, a wide-angle image processing method for a vehicle for correcting the same brightness information of the boundary pixels for the border region adjacent to each other in the plurality of divided images.
The method of claim 18,
And correcting the boundary pixels equally by an average value of brightness information on the boundary point.
The method of claim 19,
The scale information obtained by adding or subtracting the samely corrected boundary pixel based on the average value of the boundary pixels is obtained, and based on the obtained scale information, the brightness information of the pixels included in each divided image is changed and corrected. Vehicle wide-angle image processing method.

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