KR20130025005A - Apparatus and method for compensating around image of vehicle - Google Patents

Abstract

PURPOSE: A correcting device of surroundings image of a vehicle is provided to correct a viewpoint of the surrounding image of the vehicle which is generated according to the height of camera installation and to supply the surrounding image of the vehicle with the same viewpoint if the height of camera installation is different. CONSTITUTION: A correcting device of surroundings image of a vehicle comprises an image acquisition unit(100), a surrounding image generator(200), and a control unit(300). The image acquisition unit acquires a plurality of surrounding images of the vehicle according to the different direction. The surrounding image generator synthesizes in a projection plane forming surrounding of the vehicle with the plurality of obtained images and generates surrounding images of the vehicle. The control unit corrects image processing viewpoint of the surrounding image according to the height of installation of the image acquisition unit to an image processing reference viewpoint with respect to the projection plane. [Reference numerals] (100) Image acquisition unit; (200) Surrounding image generator; (300) Control unit; (400) Display unit

Description

Apparatus and method for compensating around image of vehicle}

The present invention relates to an apparatus and a method for correcting a surrounding image of a vehicle, and more particularly, to an apparatus and method for correcting a surrounding image of a vehicle for automatically correcting an image processing time point of a captured image according to a height of a camera installed in a vehicle to a reference viewpoint. will be.

In general, a system for capturing and displaying the surrounding image of the vehicle is not universally installed in the vehicle, so that the driver only needs to check the surroundings of the vehicle through his / her own eyes or the rear side through the inside mirror or the outside mirror, This has been made forward, backward or turning.

However, some vehicles can sit in the driver's seat and easily check the surrounding environment of the front and rear, and there are blind spots that cannot be seen through the naked eye or mirrors.

In particular, in the case of a large vehicle, there are relatively many areas that cannot be identified by the inside mirror or outside mirror alone, so it is necessary to look around the vehicle before driving the vehicle and check whether there are any obstacles with the naked eye. The occurrence of accidents and deaths can be prevented.

Therefore, recently, an apparatus for photographing a surrounding environment through cameras installed in front, rear, left, and right directions of a vehicle, and combining the photographed images and displaying the surrounding image of the vehicle through a display device provided in the vehicle has been developed.

Cameras for photographing the surrounding environment of a vehicle are generally installed at the same mounting position regardless of the height of the vehicle. For example, a camera for photographing the front and rear images of the vehicle is installed at the center of the bonnet of the vehicle and the upper part of the rear bumper, and a camera for photographing the left and right sides of the vehicle is installed near the outside mirror.

At this time, when the installation position of the camera is installed at the same mounting position irrespective of the height of the vehicle, the image processing time point of the blind spot detection (BSD) algorithm is fixed. When the photographing time points are different from each other, the recognition of the surrounding images displayed after the image processing may decrease.

Therefore, even when the height of the camera is installed differently or the same vehicle is different depending on the vehicle type, even when the cameras are different from each other, the image processing time can be corrected to display the surrounding image at the same time as the height of the image processing reference time. A solution is required.

The present invention has been devised to solve the above problems, and the technical problem to be achieved by the present invention is an image processing reference using a composite image of a plurality of images obtained for different directions based on the camera installation height automatically The present invention provides an apparatus and a method for correcting a surrounding image of a vehicle capable of correcting the view to provide a vehicle surrounding image at the same view point regardless of the vehicle model.

In order to achieve the above object, an apparatus for providing a surrounding image of a vehicle according to an exemplary embodiment of the present disclosure may include an image obtaining unit obtaining a plurality of images of different directions around a vehicle, and forming the obtained image around the vehicle. And a peripheral image generator for synthesizing the projection surface to generate the surrounding image of the vehicle, and a controller for correcting the image processing viewpoint of the generated peripheral image according to the installation height of the image acquisition unit to the image processing reference viewpoint. do.

In order to achieve the above object, a method of providing a surrounding image of a vehicle according to an exemplary embodiment of the present invention includes obtaining a plurality of images in different directions around the vehicle, and obtaining the obtained image on a projection surface forming the vehicle periphery. Synthesizing to generate the surrounding image of the vehicle, and correcting the viewpoint of the generated surrounding image according to the installation height of the apparatus for obtaining the image as an image processing reference viewpoint for the projection surface.

According to the apparatus and method for calibrating the surrounding image of the vehicle of the present invention as described above, one or more of the following effects are obtained.

The viewpoint of the surrounding image of the vehicle generated according to the installation height of the camera, which acquires images in different directions around the vehicle, is corrected to an image processing reference point so that the surrounding image of the vehicle at the same viewpoint may be provided even if the installation height of the camera is different. It can be effective.

In addition, even if the installation height of the camera is different, since the surrounding image of the vehicle can be provided at the same time, even if the driver is driving different types of vehicles, it is possible to provide the surrounding image at the same time. There is also a noticeable effect.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a block diagram illustrating a peripheral image correction apparatus for a vehicle according to an exemplary embodiment of the present invention.
2 is a block diagram showing an image acquisition unit according to an embodiment of the present invention.
Figure 3 is a schematic diagram showing the installation position of a plurality of cameras according to an embodiment of the present invention.
4 is a block diagram illustrating a peripheral image generator according to an exemplary embodiment of the present invention.
5 is a schematic view showing a projection surface according to an embodiment of the present invention.
Figure 6 is a schematic diagram showing the difference in installation height of the camera according to the vehicle model according to an embodiment of the present invention.
7 is a schematic diagram showing a viewpoint of a surrounding image generated in a small vehicle according to an embodiment of the present invention.
8 is a schematic view showing a viewpoint of a surrounding image generated in a large vehicle according to an embodiment of the present invention.
9 is a schematic diagram illustrating a time point corrected according to an embodiment of the present invention.
10 is a block diagram illustrating a peripheral image correction apparatus for a vehicle according to another exemplary embodiment of the present invention.
11 is a flowchart illustrating a method of correcting a surrounding image of a vehicle according to an exemplary embodiment of the present invention.
12 is a flowchart illustrating a method of correcting a surrounding image of a vehicle according to another exemplary embodiment of the present invention.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Thus, in some embodiments, well known process steps, well-known structures, and well-known techniques are not specifically described to avoid an undue interpretation of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It should be understood that the terms comprising and / or comprising the terms used in the specification do not exclude the presence or addition of one or more other components, steps and / or operations other than the stated components, steps and / . And "and / or" include each and any combination of one or more of the mentioned items.

Further, the embodiments described herein will be described with reference to the perspective view, cross-sectional view, side view, and / or schematic views, which are ideal illustrations of the present invention. Thus, the shape of the illustrations may be modified by manufacturing techniques and / or tolerances. Accordingly, the embodiments of the present invention are not limited to the specific forms shown, but also include variations in forms generated by the manufacturing process. In addition, in the drawings of the present invention, each constituent element may be somewhat enlarged or reduced in view of convenience of explanation.

Hereinafter, the present invention will be described with reference to the drawings for describing the apparatus and method for correcting a surrounding image of a vehicle according to embodiments of the present invention.

1 is a block diagram illustrating an apparatus for compensating for a surrounding image of a vehicle according to an exemplary embodiment of the present invention.

As illustrated, the apparatus for providing a surrounding image 1 of a vehicle according to an exemplary embodiment of the present invention may include an image obtaining unit 100, a surrounding image generating unit 200, a controller 300, and a display unit 400. Can be.

The image acquirer 100 obtains a plurality of images of different directions around the vehicle, the surrounding image generator 200 generates a vehicle surrounding image by using the obtained plurality of images, and the controller 300 The viewpoint of the surrounding image generated according to the installation height of the image acquisition unit 100 may be corrected to the image processing reference time point, and the display 400 may display the surrounding image viewed from the corrected image processing reference time point.

Hereinafter, a peripheral image correction apparatus 1 of a vehicle according to an exemplary embodiment of the present invention will be described in detail.

2 is a block diagram illustrating an image acquisition unit according to an embodiment of the present invention.

As shown, the image acquisition unit 100 according to an embodiment of the present invention stores an image for storing the images obtained by the plurality of cameras 111 to 114 and the plurality of cameras 111 to 114 installed in the vehicle It may include a portion 120.

In the exemplary embodiment of the present invention, a case in which the plurality of cameras 111 to 114 are respectively installed in front, rear, left and right directions of the vehicle 10 is described as an example, but this is to help understanding of the present invention. As an example, the present invention is not limited thereto, and the number or installation directions of the cameras may be variously changed according to a use and a need.

For example, when a plurality of cameras 111 to 114 have a wide angle lens or a fisheye lens having a large angle of view, the number of installations may be reduced, otherwise the number of installations may be increased. In this case, the images acquired by the plurality of cameras 111 to 114 may acquire an image about the surrounding omnidirectional direction of the vehicle 10, that is, 360 degrees, and the plurality of cameras (as in the embodiment of the present invention). When 111 to 114 are respectively installed in front, rear, left and right directions of the vehicle 10, each camera may be a camera using a wide-angle lens having an angle of view of 180 degrees. In this case, the plurality of cameras 111 to 114 do not necessarily need to be installed in the front, rear, left, and right directions of the vehicle in order to acquire an image of the surrounding omnidirectional direction of the vehicle, and under different conditions of acquiring an image of the surrounding omnidirectional direction of the vehicle. It may be installed at a location.

In the embodiment of the present invention, the plurality of cameras 111 to 114 may include a first camera 111, a second camera 112, a third camera 113, and a fourth camera 114, respectively. An example of obtaining images of the front region 111a, the rear region 112a, the left region 113a, and the right region 114a of (10) will be described.

In addition, in the embodiment of the present invention, the first camera 111 is installed at the center of the bonnet, the second camera 112 is installed at the upper rear bumper of the vehicle 10, and the third and fourth cameras 113, 114 will be described in the case of being installed in the left and right outside mirrors of the vehicle 10, for example, this is only an example to help understanding of the present invention is not limited to this, a plurality of cameras (111 ~ 114) The installation location of the can be changed in various ways depending on the use and need.

The image storage unit 120 may store images acquired by the plurality of cameras 111 to 114, and the image storage unit 120 may acquire the identification information of the image and the image of the corresponding direction along with the acquired image. May be stored together.

The image storage unit 120 may include a cache, a RAM, an SRAM, a DRAM, a ROM, a PROM, an EPROM, an EEPROM, a flash memory, and a hard disk drive, but is not limited thereto.

In this case, the plurality of cameras 111 to 114 may convert the image into a compressed format to facilitate data transmission before transmitting the obtained image to the image storage unit 120. The compressed format may be MPEG-1 or Various known formats such as MPEG-4 may be used, and the plurality of cameras 111 to 114 may include a processor for converting a data format of an acquired image.

On the other hand, when a wide-angle lens or a fisheye lens is used in the plurality of cameras 111 to 114, the focal length is short, because the lens is not completely spherical and geometrical distortion of the lens, for example, radial distortion or tangential distortion may occur. Therefore, the images acquired by the plurality of cameras 111 to 114 may be stored by correcting distortion by a distortion correction algorithm.

The distortion correction of the images acquired by the plurality of cameras 111 to 114 may be performed by the plurality of cameras 111 to 114, may be performed when the image is stored in the image storage unit 120, and the additional distortion correction. It may be performed by a component for transmitting to the image storage unit 120.

The surrounding image generating unit 200 converts coordinates by projecting the images acquired by the plurality of cameras 111 to 114 onto a projection surface forming a vehicle periphery, and generates the surrounding image by synthesizing the converted image on the projection surface. The peripheral image generator 200 may include a projection surface setting unit 210, a coordinate converter 220, and an image synthesizer 230 as shown in FIG. 4.

The projection surface setting unit 210 may set a virtual projection surface forming a vehicle periphery. The projection surface may be a preset projection surface when the vehicle is shipped, or may be a projection surface selected by a driver among various types of projection surfaces stored in advance.

In the exemplary embodiment of the present invention, as shown in FIG. 5, a case in which the projection plane 240 set by the projection plane setting unit 210 is a three-dimensional stereoscopic projection model and the projection plane is hemispherical will be described as an example. As an example only to help the present invention, various projection surfaces such as a sphere and a plane may be set, without being limited thereto.

The coordinate conversion unit 220 may store coordinate information (for example, 3D coordinate information, etc.) of the projection plane set by the projection plane setting unit 210, and may store a plurality of cameras 111 to 114 using the stored coordinate information. ) Can be converted into the coordinates of the projection surface.

For example, the coordinate converting unit 220 projects the images acquired by the plurality of cameras 111 to 114 onto the projection surface, thereby converting the two-dimensional coordinates of the images obtained by the plurality of cameras 111 to 114 to the projection surface. 3D coordinates can be converted, and through this coordinate conversion, the image synthesizing unit 230 can synthesize images acquired by the plurality of cameras 111 to 114 on the set projection plane.

The image synthesizing unit 230 may generate the surrounding image by synthesizing the image whose coordinates are converted by the coordinate converting unit 220 to the projection surface set by the projection surface setting unit 210.

For example, as illustrated in FIG. 5, the image synthesizing unit 230 is configured to coordinate conversion unit 220 to synthesize images acquired by the plurality of cameras 111 to 114 on the projection surface 240 set to hemispherical shape. 2D coordinates of the images obtained by the plurality of cameras 111 to 114 are converted into three-dimensional coordinates of the projection surface 140, and the image synthesis unit 230 converts the coordinate-converted image to the projection surface ( By synthesizing to 240, the surrounding image of the vehicle can be generated.

In this case, the image synthesizing unit 230 generates a peripheral image viewed from the viewpoint of the projection surface according to the height of the image acquisition unit 100, that is, the plurality of cameras 111 to 114. For example, the heights of the plurality of cameras 111 to 114 installed may be the same or different according to the vehicle type. When the heights of installations are different, the shooting points of the plurality of cameras 111 to 114 are different from each other. The unit 230 generates a peripheral image viewed at each photographing time point.

Accordingly, the driver may view the surrounding image generated by the surrounding image generating unit 200 in the form of a three-dimensional image. As shown in the arrow of FIG. 5, the driver may change the virtual view of the projection surface 240 around or near the vehicle. It is possible to view at least a portion of the vehicle and the surroundings of the vehicle at a desired scale in a desired direction.

On the other hand, the peripheral image generating unit 200 may generate the peripheral image according to the photographing time point of the plurality of cameras 111 to 114 basically, but when setting the image processing reference time point, the peripheral image generation according to the set image processing reference time point It is possible to generate an image. For example, when the installation heights of the plurality of cameras 111 to 114 installed in different vehicle types are different from each other, the peripheral image generator 200 generates a peripheral image based on a shooting time point. If this is set, the viewpoint of the generated surrounding image can be automatically corrected as the image processing reference viewpoint. To this end, when the image synthesizer 230 of the surrounding image generator 200 synthesizes the converted coordinate image on the projection surface, the surrounding image viewed at the image processing reference point may be generated.

The control unit 300 corrects the viewpoint of the surrounding image generated according to the installation height of the image acquisition unit 100, that is, the plurality of cameras 111 to 114, to the image processing reference time point, and the surrounding according to the corrected image processing reference time point. An image may be generated.

For example, the controller 300 may store an image processing reference viewpoint set as a 3D coordinate value of the projection surface. The image processing reference point of time may be understood as a photographing time point when the plurality of cameras 111 to 114 are installed at the reference height, and the control unit 300 may include the plurality of cameras 111 to 114 at different heights for each vehicle type. Even if the shooting time is different for each vehicle type, it can be corrected to the image processing reference time point according to the reference height so that the surrounding images of the same view can be generated regardless of the vehicle height or the installation height of the plurality of cameras 111 to 114. will be.

In the exemplary embodiment of the present invention, the reference height and the image processing reference viewpoint may be a height at which the plurality of cameras 111 to 114 are installed in a specific vehicle and a photographing time point, or may be a photographing time point having the best recognition through various tests. It is not limited to this.

The reference height and the image processing reference time point may be stored in a storage device built in the controller 300 or in a separate storage device. Such storage devices may be cache, RAM, SRAM, DRAM, ROM, PROM, EPROM, EEPROM, Flash memory and hard disk drives and the like can be used.

Looking at the case in which the control unit 300 corrects the photographing time point for the plurality of cameras 111 to 114 installed in the vehicle to the image processing reference time point as follows. When a plurality of cameras 111 to 114 are installed in a small vehicle and a large vehicle, assuming that any one of the plurality of cameras 111 to 114 is installed in the same installation position, for example, an exterior mirror, In a state in which a large vehicle is traveling at the same point, the images acquired by the plurality of cameras 111 to 114 are different from each other at the time of photographing.

Therefore, the controller 100 sets the viewpoint of the surrounding image generated in one of the small vehicle and the large vehicle as an image processing reference viewpoint so that the viewpoints of the surrounding image generated in the small vehicle and the large vehicle are the same. The viewpoint of the surrounding image generated in the small vehicle and the large vehicle is made identical by correcting the viewpoint of the generated surrounding image as the image processing reference viewpoint. At this time, in the embodiment of the present invention has been described a case in which the shooting time of any one of a small vehicle and a large vehicle is set as an image processing reference time point as an example, this is merely an example for helping understanding of the present invention, The present invention is not limited thereto, and the photographing time point having the best recognition rate may be set as the image processing reference time point through various tests.

6 is a schematic diagram illustrating image acquisition units installed in different vehicle types according to an exemplary embodiment of the present invention. In this case, in FIG. 6, for example, a camera installed in an exterior mirror of a small vehicle and a large vehicle will be described as an example. However, this is only an example to help understanding of the present invention. This may also apply to other installation heights.

As shown, when the cameras for acquiring the lateral images in the small vehicle 11 and the large vehicle 12 are installed in the outside mirrors 11a and 12a, the small vehicle 11 and the large vehicle 12 Since there exists the installation height difference (DELTA) h of the outside mirrors 11a and 12a, a difference also arises in the installation height of a camera.

In this case, the peripheral image generated when the small vehicle 11 and the large vehicle 12 are traveling in the same region may have a difference even when the peripheral image generated by the installation height difference of the camera is taken.

Therefore, the position of the object 250 included in the partial image 241a of the surrounding image 241 generated by the small vehicle 11 as shown in FIG. 7 is the small vehicle 11 in the large vehicle 12 as shown in FIG. 8. The position of the object 250 included in some of the images 242a among the surrounding images 242 generated at the same position is not the same. In this case, the portions 241a and 242a of the surrounding images 241 and 242 generated in FIGS. 7 and 8 may be understood to be the same position on the projection surface.

In this case, the object shown by a dotted line in FIG. 8 indicates the position of the object 250 in the small vehicle 11 of FIG. 7 described above, and the position difference of the object 250 in the small vehicle 11 and the large vehicle 12. It is shown to represent.

In other words, the objects 250 which are actually positioned around the small vehicle 11 and the large vehicle 12 are the same, but due to the difference in the installation height of the image acquisition unit 100, the peripheral images 241 and 242 respectively generated. Since the viewpoints are different, the position difference of each object 250 occurs.

As such, when the driver familiar with the small vehicle 11 drives the large vehicle 12, the recognition of the surrounding environment may be relatively low due to the difference in the position of the objects included in the generated surrounding image. In addition, even in the same vehicle, when the installation height of the image acquisition unit 100 is different, the driver may have a relatively low awareness of the surrounding environment.

Therefore, in the embodiment of the present invention, based on the installation height and the reference height of the image acquisition unit 100, by correcting the viewpoint of the peripheral image generated by the peripheral image generating unit 200 to the image processing reference viewpoint of the vehicle model or the camera Regardless of the installation height, the driver can be provided with the surrounding image at the same point of view, and even if the direction of the eye is changed, the driver can be provided with the surrounding image of the same area. In addition, since the surrounding image of the same view can be provided, it is possible to prevent the recognition of the surrounding environment from occurring in advance depending on the vehicle model.

For example, when the photographing time point of the surrounding image generated in FIG. 7 is set as the image processing reference time point, the viewpoint of the surrounding image generated in FIG. 8 is moved to the image processing reference time point of FIG. 7 as shown in FIG. 9. The position of the object 250 in the surrounding image generated in the large vehicle may be the same as the position of the object 250 in the surrounding image generated in the small vehicle.

The display unit 400 may display the surrounding image generated by the surrounding image generating unit 200 or the surrounding image corrected by the image processing reference point by the controller 300, and the display unit 400 may display the vehicle 10. Various display devices provided therein may be used. For example, the display unit 400 may be a navigation device, a HUD display device, a display device mounted on an inside mirror or an outside mirror, an AV system, or the like.

On the other hand, the surrounding image providing apparatus 1 of the vehicle according to another embodiment of the present invention, as shown in FIG. The apparatus may further include a viewpoint moving unit 500 capable of moving the viewpoint of the surrounding image. In FIG. 10, the image obtaining unit 100, the surrounding image generating unit 200, the controller 300, and the display unit 400 are provided. Since has the same configuration as the above-described Figure 1 will be omitted a detailed description thereof.

The viewpoint moving unit 500 may be installed in the form of a button or a switch in the vehicle 10, and the driver may request the viewpoint correcting unit 500 to move the viewpoint of the surrounding image. According to the driver's request, the surrounding image having the moved viewpoint may be generated.

For example, even after the controller 300 corrects the viewpoint of the surrounding image generated by the surrounding image generator 200 as an image processing reference viewpoint, when the driver wants to correct the viewpoint of the surrounding image, the driver moves the viewpoint moving unit ( It is possible to correct the viewpoint of the surrounding image generated through 500. In this case, the viewpoint moving unit 500 may allow the driver to correct the generated surrounding image in a predetermined unit (for example, a predetermined angle).

Meanwhile, when the controller 300 automatically moves the viewpoint of the surrounding image generated by the surrounding image generator 200 to the image processing reference viewpoint according to the installation height of the image obtaining unit 100, the viewpoint moving unit 500. ) May be omitted.

In addition, the viewpoint moving unit 500 may cause the viewpoint of the surrounding image to be moved according to various events generated in the vehicle such as a driving state of the vehicle and a shift stage position. For example, in the above-described embodiment of the present invention, the case of moving the viewpoint of the surrounding image generated according to the installation height of the image acquisition unit 100 to the image processing reference viewpoint is described as an example, but is not limited thereto. The viewpoint of the surrounding image may be moved to a preset viewpoint according to the driving state of the vehicle (for example, driving direction or road condition) and the shift stage position (for example, the reverse stage).

FIG. 11 is a flowchart illustrating a method of correcting a surrounding image of a vehicle according to an exemplary embodiment of the present disclosure, wherein the controller 300 stores an image processing reference time point according to a preset reference height, and the peripheral image generating unit 200 stores the image reference point. This is an example of moving a viewpoint of the generated surrounding image to an image processing reference viewpoint.

As shown, in the method for providing a surrounding image of a vehicle according to an exemplary embodiment of the present invention, the image obtaining unit 100 first acquires an image around the vehicle (S110).

The image acquisition unit 100 may include a plurality of cameras 111 to 114, and may acquire an image of all directions around the vehicle 10.

The surrounding image generator 200 synthesizes the obtained image to a virtual projection surface set around the vehicle 10 to generate the surrounding image (S120).

That is, when the projection surface setting unit 210 sets the virtual projection surface forming the vehicle periphery, and the coordinate conversion unit 220 converts the obtained coordinates of the image, the image synthesis unit 230 based on the converted coordinates The obtained image can be synthesized on the projection surface.

At this time, in the embodiment of the present invention has been described a case in which the peripheral image generated by the peripheral image generating unit 200 is a three-dimensional stereoscopic image, for example, this is merely an example for helping the understanding of the present invention, The present invention is not limited thereto, and when the projection surface is flat, it may be generated in a top view form in which the vehicle is viewed from the top of the vehicle.

The controller 300 moves the viewpoint so that the viewpoint of the surrounding image according to the installation height of the image acquisition unit 100 has an image processing reference viewpoint (S130).

That is, the controller 300 moves the viewpoint of the surrounding images generated according to the photographing viewpoints of the plurality of cameras 111 to 114 included in the image obtaining unit 100 to the image processing reference viewpoint according to the reference height. Regardless of the installation height or the model of the 100, the surrounding image of the same view may be provided.

Meanwhile, FIG. 11 described above shows that when the controller 300 differs from the viewpoint of the surrounding image according to the installation height of the image acquisition unit 100 and the image processing reference viewpoint, the viewpoint of the automatically generated peripheral image is referred to as the image processing reference viewpoint. Although the case of moving is described as an example, the present invention is not limited thereto, and the controller 300 may move the viewpoint of the surrounding image generated according to the driver's selection, or an example of moving the viewpoint according to the driver's selection. Is the same as FIG.

Referring to FIG. 12, first, the image acquisition unit 100 acquires an image around a vehicle (S210), and the surrounding image generation unit 200 synthesizes the obtained image to a virtual projection surface set around the vehicle 10. By generating the surrounding image (S220). In this case, the viewpoint of the surrounding image generated in operation S220 may be understood as a photographing viewpoint according to the installation height of the image acquisition unit 100.

When the driver checks the generated surrounding image and senses the necessity of moving the viewpoint, the driver selects the viewpoint of the surrounding image generated through the viewpoint moving unit 500 (S230).

The controller 300 determines the viewpoint selected by the driver, and moves the viewpoint of the surrounding image according to the determination result (S240).

11 and 12 described above, the controller 300 automatically corrects the viewpoint of the surrounding image to the image processing reference viewpoint and the case where the driver selects the viewpoint, respectively. As an example for help, the present invention is not limited thereto, and the above-described FIGS. 11 and 12 may be used in combination.

For example, when the surrounding image is generated by the surrounding image generating unit 200, first, when the viewpoint of the surrounding image is different from the viewpoint of the image processing according to the installation height of the image obtaining unit 100, the surrounding image is generated. Moves the viewpoint of the image to the image processing reference viewpoint, the driver checks the surrounding image whose viewpoint has been moved to the image processing reference viewpoint displayed on the display unit 400, and operates the viewpoint moving unit 500 to view the viewpoint of the surrounding image. You can also move it back.

As described above, the apparatus and method for calibrating the surrounding image of the vehicle according to the exemplary embodiment of the present invention may use the viewpoint of the surrounding image as an image processing reference viewpoint even when the installation heights of the image obtaining unit 100 are different according to the type of vehicle. It is possible to provide a surrounding image of the same view even if the types of vehicles are different by moving.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the foregoing detailed description, and all changes or modifications derived from the meaning and scope of the claims and the equivalents thereof are included in the scope of the present invention Should be interpreted.

100: image acquisition unit
111: the first camera
112: second camera
113: third camera
114: fourth camera
120: video storage unit
200: surrounding image generating unit
210: projection surface setting unit
220: coordinate conversion unit
230: video synthesis unit
300:
400:
500: viewpoint moving unit

Claims (14)

An image obtaining unit obtaining a plurality of images of different directions around the vehicle;
A peripheral image generator for synthesizing the obtained plurality of images on a projection surface forming the vehicle periphery to generate a peripheral image of the vehicle; And
And a controller configured to correct an image processing time point of the generated surrounding image according to an installation height of the image acquisition unit to an image processing reference time point with respect to the projection surface. The method of claim 1,
The control unit,
And if the photographing time point of the generated surrounding image is different from the image processing reference time point, automatically shifting the viewpoint of the generated surrounding image with respect to the projection surface to the image processing reference time point. The method of claim 2,
The surrounding image generator,
A projection surface setting unit for setting the projection surface;
A coordinate converter configured to store coordinate information of the set projection surface and convert the obtained plurality of image coordinates into coordinates of the projection surface based on the stored coordinate information; And
And an image synthesizer configured to synthesize the acquired image on the projection surface viewed from the corrected image processing reference point of view based on the converted coordinates. The method of claim 1,
And a display unit configured to display a surrounding image of the vehicle viewed from the corrected image processing time point. The method of claim 4, wherein
The display unit includes:
A peripheral image correction device for a vehicle including at least one of an inside mirror, an outside mirror, a HUD display, and navigation. The method of claim 1,
The image processing reference time point,
The surrounding image correction apparatus of the vehicle is set to a three-dimensional coordinate value with respect to the projection surface. The method of claim 1,
And a viewpoint moving unit configured to move a virtual viewpoint around the vehicle by at least one of the driving state, the shift stage position, and the driver's request of the vehicle. Obtaining a plurality of images of different directions around the vehicle;
Generating the surrounding image of the vehicle by synthesizing the obtained image with a projection surface forming the vehicle periphery; And
And correcting the viewpoint of the generated surrounding image according to the height of the image obtaining unit as an image processing reference viewpoint with respect to the projection surface. The method of claim 7, wherein
Wherein the correcting comprises:
And when the photographing time point of the generated surrounding image is different from the image processing reference time point, automatically moving the viewpoint of the generated surrounding image with respect to the projection surface to the image processing reference time point. . The method of claim 9,
Generating the surrounding image,
Setting the projection surface;
Storing coordinate information of the set projection surface and converting the obtained plurality of image coordinates to coordinates of the projection surface based on the stored coordinate information; And
And synthesizing the obtained image on the projection surface viewed from the corrected image processing reference point of view based on the converted coordinates. The method of claim 8,
And displaying the surrounding image of the vehicle as viewed from the corrected image processing reference time point. The method of claim 11,
Wherein the displaying comprises:
And displaying the surrounding image of the vehicle through at least one of an inside mirror, an outside mirror, a HUD display, and a navigation. The method of claim 8,
The image processing reference time point,
The surrounding image correction method of the vehicle is set to the three-dimensional coordinate value with respect to the projection surface. The method of claim 8,
And moving the viewpoint of the surrounding image of the vehicle according to at least one of the driving state, the shift stage position, and the driver's request of the vehicle.

Images