KR101750160B1 - System and method for eliminating noise of around view - Google Patents

System and method for eliminating noise of around view Download PDF

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Publication number
KR101750160B1
KR101750160B1 KR1020150097327A KR20150097327A KR101750160B1 KR 101750160 B1 KR101750160 B1 KR 101750160B1 KR 1020150097327 A KR1020150097327 A KR 1020150097327A KR 20150097327 A KR20150097327 A KR 20150097327A KR 101750160 B1 KR101750160 B1 KR 101750160B1
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South Korea
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image
brake
unit
brake operation
stored
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KR1020150097327A
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Korean (ko)
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KR20170006543A (en
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김신현
박재홍
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주식회사 와이즈오토모티브
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    • 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
    • H04N5/23216—
    • H04N5/23229—
    • H04N5/23296—

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  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)

Abstract

The object of the present invention is to provide a system and method for removing an ambient noise that can remove a red noise generated on a display screen by an output of a brake or the like through a configuration for extracting and combining only images photographed when the brake operation is in an inactive state . To this end, the present invention provides a camera system comprising at least one camera installed in a vehicle, the camera unit outputting an image of at least one of a front side and a rear side of the vehicle; A brake operation detecting unit for detecting whether the vehicle is turned on / off; And extracting a composite image patch stored when the brake operation is turned off among a plurality of composite image patches output from the camera unit and stored in advance, when the brake operation detected by the brake operation detection unit is ON, And a control module for generating an overview image. Therefore, the system and method for removing the ambient noise of the present invention can extract noise from the display screen with the output of a brake or the like through a configuration for extracting and combining images taken only when the brake operation is inactive have.

Description

FIELD OF THE INVENTION [0001] The present invention relates to a system and a method for eliminating an ambient view noise,

The present invention relates to a system and a method for removing an ambient noise, and more particularly, to a system and method for removing an ambient noise, and more particularly, And more particularly, to a system and method for removing an ambient view noise.

2. Description of the Related Art [0002] In recent years, as a vehicle has become more sophisticated and multifunctional, it has been proposed to use a camera mounted on the front, rear, left and right sides of a vehicle to provide a screen in which a vehicle is viewed And an Around View Monitor (AVM) system that allows you to obtain a clear view.

These surround view monitor systems synthesize images from cameras mounted on all sides of the vehicle, so that they can be viewed from the top view ) Refers to a kind of parking convenience device that allows a driver to safely and precisely park the vehicle in a narrow path while observing the four sides of the vehicle.

However, since the surround view monitor system usually combines the four images taken by a plurality of cameras to form one image, when the brightness of each image is different, the visibility of the screen may deteriorate, Removal of heterogeneity is required.

In order to meet such a demand, a system for generating an arousal view image through a single rear camera has appeared. The arousal view monitor system using such a rear camera photographs a rear image with at least one camera, And generates an averaged view image having a predetermined image area by accumulating and compositing a plurality of image patches to be formed.

That is, it is possible to monitor the surroundings of the vehicle by simulating the current image as if it is a real time based on the past image that was photographed earlier.

However, according to the related art, since the image for synthesis for each unit having a certain area is synthesized in accordance with the order in which the images are taken, and the surround view image is generated, the light output of the brake (lamp) There is a problem in that when the rear side is illuminated in red, the aurally view image output on the display screen may have a red linear noise.

More specifically, referring to FIG. 1, FIG. 1 is a diagram illustrating noise of an ambient view monitor system according to the related art. When the driver activates the operation of the brake by intermittently pressing the brake pedal, The real image A outputted to the constant output area in the portion can be displayed in red by the optical output of the brake or the like and a plurality of synthetic image patches formed on the basis of the real time image A are accumulated, , An ambient view image B with red linear noise can be generated as shown in the figure.

That is, since the ambient view image B having the red linear noise is output to the display screen due to the light output of the brake or the like, the driver can experience a visual inconvenience due to a poor image quality and further, It is possible to generate a sense of heterogeneity at the time of synthesis of the image for synthesis by the reflected light source of the bottom surface corresponding to the light output of the light source.

Therefore, it is necessary to develop a technique capable of providing a clear surround view image despite the optical output of the brake or the like.

Korean Registered Patent No. 10-1406073 (2014.06.03.)

In order to solve such a problem, the present invention provides a surround-view noise canceling system capable of removing a red noise generated on a display screen by an output of a brake or the like through a configuration for extracting and synthesizing only images photographed when the brake operation is in an inactive state And a method thereof.

According to an aspect of the present invention, there is provided an image processing apparatus comprising: a camera unit installed in a vehicle and outputting an image of at least one of a front portion and a rear portion of the vehicle; A brake operation detecting unit for detecting whether the vehicle is turned on / off; And extracting a composite image patch stored when the brake operation is turned off among a plurality of composite image patches output from the camera unit and stored in advance, when the brake operation detected by the brake operation detection unit is ON, And a control module for generating an overview image.

In addition, the extracted image patch for synthesis according to the present invention is an image that does not include red light emitted from a brake lamp by the operation of a brake.

Further, the brake operation detecting unit according to the present invention senses the brake operation control signal from the CAN (Controller Area Network) communication of the vehicle or senses the brake light switching signal to detect the ON / OFF operation of the brake .

In addition, the control module according to the present invention may further include an image storage unit for converting a viewpoint of an image output from the camera unit to form a composite image patch having a predetermined area, ; An image extracting unit for extracting a composite image patch that was stored when the brake operation is turned off, of a plurality of composite image patches stored in the image storage unit, when the brake operation detected by the brake operation detecting unit is ON; And an image generation unit for synthesizing the image for synthesis for synthesis extracted by the image extraction unit and generating an aurally view image which is not affected by light output of a brake lamp.

Also, the image patch for synthesis at the time of conversion in the image storage unit according to the present invention is a top view image having a certain area.

Further, the image extracting unit according to the present invention analyzes the photographing time of the camera unit and the brake operation detecting time of the brake operation detecting unit, The image patches are removed or only the composite image patches that have been captured and stored before the time when the brake ON operation is detected are extracted.

Further, the present invention provides a method for eliminating an ambient view noise, comprising the steps of: a) detecting whether a brake operation detecting section is ON / OFF of a vehicle brake; b) extracting a composite image patch that was stored at the time of the brake operation OFF among a plurality of composite image patches previously stored by the control module and outputted by the camera module when the brake operation detected in step a) is ON; And c) synthesizing the synthesis image patch extracted in step b) by the control module to generate an ambient view image.

Also, the image patch for synthesis extracted through the step b) according to the present invention is an image that does not contain red light emitted from a brake lamp by the operation of the brake.

In the step b) according to the present invention, the photographing time of the camera unit and the brake operation detecting time of the brake operation detecting unit are analyzed, and the synthesized photographing operation is performed at the photographing time corresponding to the time when the ON operation of the brake is detected And extracts only the image patches for synthesis that have been captured and stored before the time when the ON operation of the brake is detected.

The system and method for removing the ambient noise of the present invention has an advantage that the noise of red color occurring on the display screen can be removed by the output of the brake or the like through the structure of extracting and combining only images taken in the inactive state of the brake operation .

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating noise of an ambient view monitor system according to the prior art; FIG.
2 is a block diagram showing a schematic configuration of an ambient view noise canceling system according to the present invention;
3 is a block diagram showing a configuration of a control module according to Fig.
4 is a view of a display screen to which an ambient noise removing system according to the present invention is applied.
5 is a flowchart illustrating a method of removing an ambient view noise according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the system and method for removing ambient noise according to the present invention will be described in detail with reference to the accompanying drawings.

(Around view noise reduction system)

FIG. 2 is a block diagram showing a schematic configuration of an ambient noise removing system according to the present invention, FIG. 3 is a block diagram showing the configuration of a control module according to FIG. 2, And a display screen to which the system is applied.

2 and 3, the surround-view noise removing system 100 according to the present invention includes a camera unit 110, a brake operation detecting unit 120, a control module 130, and a display unit 140 .

At least one camera unit 110 is installed in the vehicle and outputs an image photographed from the rear of the vehicle to the control module 130 according to a predetermined wide angle characteristic. According to the embodiment of the present invention, It is preferable that the captured image is output together with a preset angle at the front hood position of the vehicle so that the control module 130 can generate the foreground view image in front of the vehicle, but the present invention is not limited thereto.

In addition, the camera 110 may include a plurality of shark antenna positions in the upper center of the vehicle body, left and right side mirrors, left and right tail lights, emblems disposed in the rear, license plates, window glass, It is needless to say that the number and position of installation of the unit 110 can be variously modified by a person having ordinary skill in the related art within the technical scope of the present invention of photographing the rear and acquiring an image.

The camera 110 may be a CMOS camera or a CCD camera. However, the present invention is not limited to this, and a speed dome camera, a pinhole camera, a pan / tilt zoom camera, or the like may be used. Further, May be additionally provided.

The brake operation detecting unit 120 detects a brake ON / OFF operation of the vehicle and outputs the brake ON / OFF operation to the control module 130. The brake operation detecting unit 120 detects the ON / OFF state of the vehicle brake that can be detected when the driver intermittently or continuously presses the brake pedal. And the OFF operation of the vehicle brake that can be detected when the brake pedal is not used (during normal traveling).

ECU or TCU sensing brake operation control signal from the CAN (Controller Area Network) communication of the vehicle can be applied. However, it is possible to use a separate (non-contact) brake ECU which detects the ON / OFF operation state of the brake by sensing a brake lamp switching signal A sensor may be applied.

The brake operation detecting unit 120 may include a sensor for detecting a movement and a state of the brake pedal, a sensor (e.g., a wheel sensor) for calculating a brake operation state by calculating a motion of the wheel, And a sensing sensor (e.g., a light sensor), which can be variously handled by those skilled in the art.

When the brake operation detected by the brake operation detecting unit 120 is ON, the control module 130 determines whether or not the composite image stored in the composite image patches An image extracting unit 132, and an image generating unit 133. The image extracting unit 132 extracts the patches and synthesizes the extracted image patches for synthesis to generate an ambient view image B ' .

Here, the noise removal system 100 may be configured such that before the image captured by the camera unit 110 is input to the control module 130, the edge of the image captured by the lens distortion of the camera unit 110, And an image correcting unit 111 for correcting various distortion phenomena associated with the lens of the camera unit 110, such as a severe distortion of a part.

The image correcting unit 111 is generally known, and a detailed description thereof will be omitted.

The image storage unit 131 is a storage for storing images photographed from the camera unit 110. The image storage unit 131 converts a viewpoint of an image captured by the camera unit 110 to form a composite image patch having a predetermined area , And stores the formed image for synthesis to be accumulated in proportion to the number of photographed frames of the camera unit 110 or the like.

It is preferable that the image for synthesis at the time of conversion in the image storage unit 131 is a Top View image having a certain area.

In addition, the synthesis image patch may be a composite image having a certain region of the entire photographed image of the camera unit 110 so as to correspond to the coordinates of the camera unit 110 that can be converted in real time according to the moving distance information and the steering angle information of the vehicle. And the technique for forming such a composite image patch is a generally known technique, and a detailed description thereof will be omitted.

At this time, the moving distance information and the steering angle information of the vehicle can be detected together with the brake operation when a control device such as an ECU or a TCU is applied to the brake operation detecting part 120. However, the present invention is not limited to this, (Not shown) such as a sensor, a vehicle speed sensor, or the like.

The coordinate conversion may be performed so as to correspond to the calculated position of the vehicle through an operation unit (not shown) for calculating and analyzing the moving distance information and the steering angle information of the vehicle and calculating the position of the vehicle. Do.

That is, the image storage unit 131 stores the image for synthesis, in which coordinates are converted according to the moving distance information and the steering angle information of the vehicle, so as to accumulate one image.

When the brake operation detected by the brake operation detecting unit 120 is ON, the image extracting unit 132 extracts a plurality of images stored in the image storing unit 131, And extracts a composite image patch stored in the composite image patch when the brake operation is turned off.

According to the present invention, it is preferable that the extracted image for synthesis image is an image that does not include red light emitted from a brake or the like due to the operation of the brake.

The extraction of the image extracting unit 132 analyzes the photographing time of the camera unit 110 and the brake operation detecting time of the brake operation detecting unit 120 and detects the time when the ON operation of the brake is detected An image extraction method according to a time analysis technique may be applied in which only a composite image patch captured and stored at a time is removed or only a composite image patch that has been captured and stored before a time at which the ON operation of the brake is detected connect.

In addition, the present invention is not limited to the image extraction method according to the time analysis technique, and the attribute of the pixels of a plurality of synthesis image patches stored in the image storage unit 131, , An image extraction method according to an image analysis technique for extracting a synthetic image patch excluding a red pixel may be applied.

Further, in the preferred embodiment of the present invention, as described above, when the brake operation detecting unit 120 detects that the brake operation is ON, the image extracting unit 132 extracts the synthesizing image stored at the time of the brake operation OFF However, the present invention is not limited to such a configuration. Alternatively, it is also possible to use a composite image patch, which is stored when the brake operation is ON, that is, It may be configured to extract only the image.

Accordingly, the image extracting unit 132 can extract the synthesized image patches that are unified in red, and generate a single unified red-eye view image by the image generating unit 133, which will be described later, It is possible to provide a missing image environment.

At this time, the control module 130 may be configured to adjust the color of the unified red view image through a separate image correction program so as to be corrected to a color other than red, and various known techniques may be applied Of course.

The image generating unit 133 synthesizes the image patch for synthesis extracted by the image extracting unit 132 to generate an ambient view image B 'that is noise-free, i.e., is not affected by optical output such as a break According to an embodiment of the present invention, it is possible to combine a plurality of extracted image patches for synthesis using a pre-stored image synthesis (registration) program.

Here, the image combining program calculates parameter extraction for distortion correction, homography between the image patches for synthesis, etc. from the extracted plurality of image patches for synthesis, and then performs image synthesis through mapping of each image patch for synthesis , Thereby creating a composite image, i.e., an ambient view image.

It is a matter of course that the technology relating to the image synthesis program is a generally known technology, and various modifications can be designed within the technical scope of the present invention.

The display unit 140 is configured to output the surround view image B 'generated by the control module 130 on an arbitrary screen and includes a room mirror installed in the vehicle, navigation, a hand-up display HUD , A Head Up Display, and a cluster may be applied, but the present invention is not limited thereto.

Also, the display unit 140 may display a real-time image A output to a predetermined output area by photographing the camera unit 110 so as to recognize the situation behind the vehicle in real time.

According to the embodiment of the present invention, when the brake operation detected by the brake operation detecting unit 120 is ON, the display unit 140 displays the real time The image A can be displayed in red and the image extracting unit 132 can not extract the image for synthesis that is formed based on the real-time image A of the red color.

Meanwhile, the image extracting unit 132 extracts a composite image patch previously stored in the image storage unit 131 before the ON operation of the brake is detected, that is, when the brake operation is OFF, Unit 133 synthesizes only the extracted image for synthesis image so that a clean surrounding view image B 'in which the red linear noise is removed is displayed on the display unit 140.

(How to Remove Around View Noise)

5 is a flowchart illustrating a method of removing an ambient view noise according to the present invention.

5, the removing method using the surrounding noise removing system 100 according to the present invention includes a brake operation detecting step S100, a brake operation analyzing step S200, an image patch extracting step S300, And a patch synthesis step (S400).

First, in step S100, the brake operation detecting unit 120 detects whether the vehicle brake is ON or OFF.

In detecting whether the brake ON / OFF operation is performed in step S100, sensing the operation control signal of the brake from the CAN (Controller Area Network) communication of the vehicle or sensing the brake lamp switching signal, / OFF operation state can be detected.

In the brake operation analysis step S200, the image extraction unit 132 of the control module 130 analyzes whether or not the brake operation detected in the step S100 is ON.

If it is determined in step S200 that the operation of the brake is ON, the process proceeds to step S300. If it is determined that the operation of the brake is not ON, that is, the operation of the brake is OFF, Can be configured to perform again.

If it is determined in step S200 that the operation of the brake is ON, the image extracting unit 132 extracts image patches from the control module 130 by photographing the camera unit 110, Only a plurality of image patches for synthesis which are stored in the image storage unit 131 of the image storage unit 131 are extracted.

Here, it is preferable that the composite image patch extracted in step S300 is an image that does not include red light emitted from a brake or the like due to a brake operation.

More specifically, the image extracting unit 132 analyzes the photographing time of the camera unit 110 and the brake operation detecting time of the brake operation detecting unit 120 in the extraction process of step S300, Only the composite image patches that were photographed and stored before the time when the ON operation of the brake is detected are removed from the composite image patches that have been captured and stored at the photographing time corresponding to the time at which the ON operation of the brake is detected, .

In step S400, the image generating unit 133 of the control module 130 synthesizes the image for synthesis for synthesis extracted in step S300 through a pre-stored image synthesis program, Thereby generating an image B '.

Therefore, according to the present invention, it is possible to eliminate the red noise generated on the display screen by the output of the brake or the like through the configuration of extracting and combining only the images photographed when the brake operation is in the inactive state, It is possible to prevent the occurrence of a sense of heterogeneity at the time of synthesizing the composite image patch by the reflected light source of the corresponding bottom surface, thereby providing a clean surround view image to the driver.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. It can be understood that

In the course of the description of the embodiments of the present invention, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation, , Which may vary depending on the intentions or customs of the user, the operator, and the interpretation of such terms should be based on the contents throughout this specification.

100: Noise elimination system 110:
120: brake operation detecting unit 130: control module
131: Image storage unit 132: Image extraction unit
133: Image generation unit 140:
A: Real-time image B ': Around view image

Claims (9)

A camera unit (110) installed at least one on a vehicle and outputting an image of at least one of a front portion and a rear portion of the vehicle;
A brake operation detecting unit (120) for detecting whether the vehicle is turned on / off; And
Extracting a composite image patch that was stored when the brake operation was turned off, of a plurality of composite image patches output from the camera unit 110 and stored in advance, when the brake operation detected by the brake operation detection unit 120 is ON, And a control module (130) for synthesizing the extracted composite image patches to generate an ambient view image (B '),
The control module 130 forms an image patch for synthesis having a predetermined area by converting a viewpoint of an image output from the camera unit 110, and stores the accumulated image patch for accumulation 131);
When the brake operation detected by the brake operation detecting unit 120 is ON, the photographing time of the camera unit 110 among the plurality of image compositing images stored in the image storing unit 131 and the photographing time of the brake operation detecting unit 120 The brake operation detection time is analyzed to remove the composite image patch photographed and stored at the photographing time corresponding to the time at which the ON operation of the brake is detected, or the composite image patch is photographed before the time at which the ON operation of the brake is detected An image extracting unit 132 for extracting only stored composite image patches; And
Synthesizes an image patch for synthesis that does not include red light emitted from the brake or the like extracted by the image extraction unit 132 to generate an ambient view image B 'that is not affected by light output of a brake lamp And an image generation unit (133).
delete The method according to claim 1,
The brake operation detecting unit 120 detects an ON / OFF operation of a brake by sensing a brake operation control signal from a CAN (Controller Area Network) communication of the vehicle or sensing a brake light switching signal Around view noise removal system.
delete The method according to claim 1,
Wherein the synthesized image patch at the point of time converted by the image storage unit (131) is a top view image having a predetermined area.
delete CLAIMS 1. A method for removing an ambient view noise,
a) detecting whether the brake operation detecting unit 120 turns on / off the vehicle brake;
b) If the braking operation detected in step a) is ON, the control module 130 controls the photographing time of the camera unit 110 among the plurality of image images for synthesis, which are output from the camera unit 110 and stored in advance, It is possible to analyze the brake operation detection time of the motion detection unit 120 to remove the composite image patch photographed and stored at the photographing time corresponding to the time at which the ON operation of the brake is detected or the time at which the ON operation of the brake is detected Extracting only composite image patches previously captured and stored as a starting point; And
c) generating a surrounding view image B 'by synthesizing an image patch for synthesis that does not include red light emitted from the brake or the like extracted through the step b) Removal method. delete delete
KR1020150097327A 2015-07-08 2015-07-08 System and method for eliminating noise of around view KR101750160B1 (en)

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