KR101591602B1 - Image monitoring system for car and image monitoring method therefor - Google Patents

Image monitoring system for car and image monitoring method therefor Download PDF

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Publication number
KR101591602B1
KR101591602B1 KR1020140124722A KR20140124722A KR101591602B1 KR 101591602 B1 KR101591602 B1 KR 101591602B1 KR 1020140124722 A KR1020140124722 A KR 1020140124722A KR 20140124722 A KR20140124722 A KR 20140124722A KR 101591602 B1 KR101591602 B1 KR 101591602B1
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South Korea
Prior art keywords
image
landmark
vehicle
unit
correction coefficient
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KR1020140124722A
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Korean (ko)
Inventor
고기석
이우섭
정진동
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멀티펠스 주식회사
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Priority to KR1020140124722A priority Critical patent/KR101591602B1/en
Priority to PCT/KR2015/008167 priority patent/WO2016043430A1/en
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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
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/08—Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots, e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

An image monitoring system for a vehicle comprises: a landmark output unit for outputting a pre-stored landmark image in a predetermined location around a vehicle; an image photographing unit for photographing an image surrounding the vehicle; a landmark mask for storing landmark image information as a reference; and a correction coefficient generation unit for comparing a landmark image photographed by the image photographing unit with the landmark image information as a reference, stored in the landmark mask, so as to generate a correction coefficient for correcting the landmark image photographed by the image photographing unit. According to the image monitoring system for a vehicle and the image monitoring method therefor, a specially designed landmark checker is installed around a vehicle and a landmark is output around the vehicle, and thereby a correction coefficient can not only be obtained without space restrictions, but can also be obtained even when the vehicle is running.

Description

Technical Field [0001] The present invention relates to an image monitoring system for a vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a video monitoring system for a vehicle and a video monitoring method thereof, and more particularly, to a video monitoring system for a vehicle and a video monitoring method thereof that can correct a video around a vehicle by updating a correction coefficient in real time.

The AVM (Around View Monitor) system for a vehicle refers to a system in which an ultra-wide-angle camera is installed around a vehicle such as a front, rear, left, and right sides, and images are displayed to a user as if they are looking out of the vehicle .

1A and 1B are explanatory diagrams of a conventional AVM system.

In the conventional AVM system, a landmark such as a lattice pattern or a triangular pattern is prepared as an actual print, placed on the floor around the vehicle, and photographed with a camera installed in the vehicle.

Fig. 2 is an image photographed at front, rear, left, and right sides of the vehicle in which the landmark of the triangular pattern is arranged at a corner portion of the vehicle as shown in Fig. 1B of the vehicle.

As can be seen from Fig. 2, the image taken by the vehicle is severely distorted. Therefore, the correction coefficient for correcting the image around the vehicle is acquired by the image photographed by the landmark, and the correction coefficient is reflected on the image of the surroundings of the vehicle when the vehicle is actually operated, do.

However, in the case of the conventional AVM system, acquisition of the correction coefficient using the landmark needs to be performed in a separate space because the landmark needs to be prepared as a printed matter. That is, in order to install the conventional AVM systems and acquire the correction coefficient, it is necessary not only to install the landmark but also to operate the facility to correctly position the vehicle on the landmark. Therefore, in the case of the conventional AVM system, since only the correction coefficients acquired beforehand can be used when the vehicle is running, the correction coefficient can not be updated in real time when the update of the correction coefficient is required due to various environmental changes .

An object of the present invention is to provide a landmark irradiating device specially designed around a vehicle and outputting a landmark around the vehicle so that a correction coefficient And it is an object of the present invention to provide a video monitoring system for a vehicle and a video monitoring method thereof that can acquire correction coefficients even when the vehicle is in operation.

A vehicle image monitoring system according to a preferred embodiment of the present invention includes: a landmark output unit for outputting a previously stored landmark image at a predetermined position around the vehicle; An image capturing unit for capturing an image of the surroundings of the vehicle; A landmark mask storing reference landmark image information; And comparing the reference landmark image information stored in the landmark mask with the landmark image photographed by the image photographing unit to generate a correction coefficient for correcting the landmark image photographed by the image photographing unit And a correction coefficient generation unit.

The vehicle image monitoring system of the present invention may further include an image correcting unit for correcting the image of the surroundings of the vehicle photographed by the image photographing unit using the correction coefficient generated by the correction coefficient generating unit .

Specifically, the landmark output unit is characterized by irradiating a landmark image to the periphery of the vehicle using a projector installed in the vehicle, or irradiating the light emitting element to a plurality of points around the vehicle at the same time or at the same time . The pre-stored landmark image may be a triangle or a lattice pattern. It is preferable that the landmark image information stored in the landmark mask is a planar image viewed from a predetermined point of time. The image correcting unit corrects the image of the surroundings of the photographed vehicle to a planar image viewed from a predetermined point of view.

According to another aspect of the present invention, there is provided a vehicle image monitoring method including the steps of: (a) outputting a previously stored landmark image at a predetermined position around the vehicle; (b) photographing the landmark image output in the step (a); And (c) comparing the reference landmark image information stored in the landmark mask with the landmark image photographed in the step (b), and calculating a correction coefficient for correcting the landmark image photographed in the step (b) And a step of generating the data. Further, the vehicle image monitoring method of the present invention includes the steps of: (d) photographing a predetermined position around the vehicle; And (e) correcting an image of the surroundings of the vehicle photographed by the step (d) using the correction coefficient generated by the step (c).

Specifically, the step (a) is characterized by irradiating an image to the periphery of the vehicle using a projector installed in the vehicle, or irradiating the light emitting element to a plurality of peripheral points of the vehicle at the same time or at the same time. In addition, it is preferable that the pre-stored landmark image in the step (a) is a triangle or a lattice pattern. The landmark image information stored in the landmark mask is a planar image viewed from a predetermined point of time.

Preferably, in the step (d), the image of the surroundings of the photographed vehicle is corrected to a planar image viewed at a predetermined time point.

According to the vehicle image monitoring system and the image monitoring method of the present invention, a landmark irradiating device specially designed around the vehicle is installed, and a landmark is output in the vicinity of the vehicle, whereby correction coefficients can be acquired The correction coefficient can be obtained even when the vehicle is running.

1A and 1B are explanatory diagrams of a conventional AVM system.
Fig. 2 is a view showing a landmark of a triangular pattern arranged as shown in Fig. 1B of the vehicle, and taken at front, rear, left, and right sides of the vehicle.
3 is a configuration diagram of a video monitoring system for a vehicle according to a preferred embodiment of the present invention.
4A is a first embodiment of a landmark output unit using a light emitting element.
4B shows a second embodiment of a landmark output unit using a light emitting element.
5 is a flowchart of a vehicle image monitoring method according to a preferred embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle image monitoring system and an image monitoring method according to embodiments of the present invention will be described in detail with reference to the accompanying drawings.

It should be understood that the following embodiments of the present invention are only for embodying the present invention and do not limit or limit the scope of the present invention. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

3 is a configuration diagram of a vehicle image monitoring system 100 according to a preferred embodiment of the present invention.

3, the vehicle image monitoring system 100 according to the preferred embodiment of the present invention includes a mode setting unit 10, a landmark output unit 20, a video photographing unit 30, A mask 40, a correction coefficient generation unit 50, a correction coefficient storage unit 60, an image correction unit 70, and an image output unit 80.

First, the mode setting unit 10 uses the landmark image to generate a correction coefficient for correcting an image around the vehicle, and a correction coefficient generated in the first mode, And the second mode for correcting the image of the display device.

The operation of the video monitoring system 100 for a vehicle according to the present invention when the mode setting unit 10 is set to the first mode will be described below.

The landmark output unit 20 serves to output a previously stored landmark image to a predetermined position around the vehicle, and a projector or a light emitting element can be used. Examples of predetermined positions around the vehicle include front, rear, left, right, or four corners of the vehicle. The landmark output unit 20 can irradiate a landmark image to the periphery of the vehicle using a projector installed in the vehicle. That is, the landmark image to be inspected at this time is preferably a triangular or lattice pattern as shown in Figs. 1A and 1B. A grid pattern can be a chessboard grid pattern alternately filled with the interior of the grid, or a checkerboard grid pattern.

Alternatively, the landmark output unit 20 can form a landmark pattern by irradiating light emitting elements to a plurality of points simultaneously or temporally around the vehicle.

4A shows a first embodiment of the landmark output unit 20 using a light emitting element.

As can be seen from the first embodiment of the landmark output unit 20 using the light emitting element, after irradiating at least one light emitting element to the front surface of the vehicle at point A, the light spot is sequentially moved to points B and C And finally move to the A point. As a result, a landmark image in the form of a triangle can be acquired by combining the images returning from the point A to the point A again.

4B is a second embodiment of the landmark output unit 20 using the light emitting element.

As can be seen from the second embodiment of the landmark output unit 20 using the light emitting device, it is also possible to obtain a landmark image of a triangular shape using the irradiated points as characteristic points by irradiating a plurality of light emitting devices.

Next, the image capturing unit 30 captures an image of the surroundings of the vehicle. In the first mode, the landmark image of the surroundings of the vehicle is captured. For example, the video image pickup section 30 can photograph the front, rear, left, and right images around the vehicle by installing a camera on the front, rear, left, and right sides of the vehicle.

The landmark mask 40 preferably stores landmark image information as a reference for image correction. The landmark image information stored in the landmark mask 40 is a landmark image without distortion and is a planar image viewed from a predetermined point of time of the landmark. When an image is photographed at a wide angle such as an ultra-wide angle camera, it can be corrected to a plurality of viewpoints such as the center and right and left sides of the image. The predetermined point can be used as a point designated by the user. It is also preferable that the landmark image information stored in the landmark mask 40 is irradiated to the periphery of the vehicle through the landmark output unit 20. [

The correction coefficient generation unit 50 compares the reference landmark image information stored in the landmark mask 40 with the landmark image photographed by the image capturing unit 30, And generates a correction coefficient for the photographed landmark image.

The correction coefficient by the correction coefficient generation unit 50 is for correcting the distorted image photographed by the image pickup unit 30 and may include the following correction.

The feature point in the landmark pattern is analyzed and perspective correction and three-dimensional correction are performed for perspective correction of each channel image and use as a reference of image rotation transformation such as pan, tilt, zoom, and rotation, A wide angle correction for correcting the distortion in which the peripheral portion is expanded when using an ultra-wide angle camera, and an image matching for correcting the distortion in which the boundary portion of the multi-channel image is expressed differently.

That is, for the vehicle AVM (Around View Monitor), it is necessary to perform correction such as making the boundary of the image natural through the boundary analysis of the multi-channel image, making the ultra-wide angle image into the image of the normal orthogonal coordinate system by performing the wide angle correction, The correction coefficient serves to generate a correction coefficient for such correction.

The correction coefficient storage unit 60 serves to store the correction coefficient generated by the correction coefficient generation unit 50. [

Next, the operation of the vehicle image monitoring system 100 according to the present invention when the mode setting unit 10 is set to the second mode will be described.

The image capturing unit 30 captures an image of the surroundings of the vehicle. The image capturing unit 30 of the present invention preferably photographs the front, rear, left, and right images of the vehicle by a plurality of cameras. The image correcting unit 70 corrects the image of the surroundings of the vehicle photographed by the image photographing unit 30 by using the correction coefficient generated by the correction coefficient generating unit 50 and stored in the correction coefficient storing unit 60 It plays a role. The image correcting unit 70 corrects the image of the surroundings of the photographed vehicle to a planar image viewed at a predetermined point in time. For example, the image correcting unit 70 preferably corrects the image of the surroundings of the vehicle to a plane image viewed from above the vehicle, that is, from the sky.

The image corrected by the image correcting unit 70 is output by the image output unit 80 so that it can be monitored by the vehicle driver.

FIG. 5 is a flowchart illustrating a video image monitoring method for a vehicle according to a preferred embodiment of the present invention.

As can be seen from FIG. 5, the vehicle image monitoring method according to a preferred embodiment of the present invention includes a mode setting step (S10).

The mode setting step S10 is a step of setting a mode for setting the image of the surroundings of the vehicle during actual operation using the first mode for generating a correction coefficient for correcting the image around the vehicle using the landmark image and the correction coefficient generated in the first mode, And a second mode for correcting the second mode.

In the vehicle image monitoring method of the present invention, when the mode is set in the mode setting step (S10), the vehicle image monitoring method of the present invention includes the steps of (S20) outputting a previously stored landmark image to a predetermined position around the vehicle, (S30) for comparing the reference landmark image information stored in the landmark mask 40 with the landmark image photographed in the step S30, and the correction coefficient for correcting the landmark image photographed in the step S30 (Step S40). Here, the landmark is characterized by being a triangle or a lattice pattern. It is preferable that the landmark image information stored in the landmark mask 40 is a planar image viewed from a predetermined point of time.

Specifically, the step S20 is characterized in that an image is irradiated to the periphery of the vehicle using a projector installed in the vehicle, or a light emitting element is irradiated to a plurality of peripheral points of the vehicle at the same time or at the same time.

When the mode is set to the second mode in the mode setting step S10, the image monitoring method for a vehicle according to the present invention includes steps S40 and S40 of photographing a predetermined position around the vehicle, And correcting the image of the surroundings of the vehicle photographed by the camera (S60). Specifically, in step S60, it is preferable that the image of the surroundings of the photographed vehicle is corrected to a planar image viewed from a predetermined point of view.

As described above, according to the video monitoring system 100 for a vehicle and the video monitoring method of the present invention, a landmark irradiating device specially designed around the vehicle is installed around the vehicle, and landmarks are output in the vicinity of the vehicle, It is possible not only to obtain the correction coefficient but also to obtain the correction coefficient even when the vehicle is running.

100: Vehicle image monitoring system of the present invention
10: Mode setting section 20: Landmark output section
30: image capturing unit 40: landmark mask
50: correction coefficient generation unit 60: correction coefficient storage unit
70: Image correction unit 80: Image output unit

Claims (14)

A landmark output unit for outputting a previously stored landmark image at a predetermined position around the vehicle;
An image capturing unit for capturing an image of the surroundings of the vehicle;
A landmark mask storing reference landmark image information;
And a correction unit configured to compare the reference landmark image information stored in the landmark mask with the landmark image photographed by the image photographing unit to generate a correction coefficient for correcting the landmark image photographed by the image photographing unit, A coefficient generator; And
And an image correcting unit for correcting an image of the surroundings of the vehicle photographed by the image photographing unit using the correction coefficient generated by the correction coefficient generating unit,
The landmark output unit may illuminate a landmark image around the vehicle using a projector installed in the vehicle,
Wherein the pre-stored landmark image output by the landmark output unit is a triangular or lattice pattern,
The landmark image information stored in the landmark mask is a planar image viewed from a predetermined point of time of the landmark,
Wherein the image correction unit corrects the image of the surroundings of the taken vehicle to a plane image viewed from the sky. delete delete delete delete delete delete (a) outputting a previously stored landmark image at a predetermined position around the vehicle;
(b) photographing the landmark image output in the step (a);
(c) comparing the reference landmark image information stored in the landmark mask with the landmark image photographed in the step (b), and generating a correction coefficient for correcting the landmark image photographed in the step (b) ;
(d) photographing a predetermined position around the vehicle; And
(e) correcting an image of the surroundings of the vehicle photographed by the step (d) using the correction coefficient generated by the step (c)
The step (a) is characterized in that an image is irradiated to the periphery of the vehicle using a projector installed in the vehicle,
The pre-stored landmark image of step (a) is a triangle or a lattice pattern,
The landmark image information stored in the landmark mask is a planar image viewed from a predetermined point of time of the landmark,
Wherein the step (d) corrects the image of the surroundings of the photographed vehicle to a planar image viewed from the viewpoint of the sky. delete delete delete delete delete delete
KR1020140124722A 2014-09-19 2014-09-19 Image monitoring system for car and image monitoring method therefor KR101591602B1 (en)

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KR1020140124722A KR101591602B1 (en) 2014-09-19 2014-09-19 Image monitoring system for car and image monitoring method therefor
PCT/KR2015/008167 WO2016043430A1 (en) 2014-09-19 2015-08-05 Image monitoring system for vehicle and image monitoring method therefor

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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010219663A (en) * 2009-03-13 2010-09-30 Alpine Electronics Inc Calibration method and calibration system for imager

Family Cites Families (4)

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Publication number Priority date Publication date Assignee Title
JP2007096964A (en) * 2005-09-29 2007-04-12 Clarion Co Ltd Device and method for calibrating camera
JP4861034B2 (en) * 2006-03-29 2012-01-25 クラリオン株式会社 Car camera calibration system
KR100948886B1 (en) * 2009-06-25 2010-03-24 주식회사 이미지넥스트 Tolerance compensating apparatus and method for automatic vehicle-mounted camera
KR101183480B1 (en) * 2012-05-11 2012-09-20 주식회사 세코닉스 Bird view image generating device for calibrating image distortion

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010219663A (en) * 2009-03-13 2010-09-30 Alpine Electronics Inc Calibration method and calibration system for imager

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