KR20130064168A - A method for generating around view of vehicle capable of removing noise caused by output delay - Google Patents

Abstract

PURPOSE: A vehicle around view image generating method capable of removing noise due to an output delay is provided to remove the noise which is generated due to the delay between an odd field image and an even field image when generating the vehicle around view image, thereby providing the around view image of high clear quality. CONSTITUTION: An image generator receives an input of an interlaced scanning image from a plurality of wide angle cameras, in which an odd field image and an even field image are synthesized. The image generator separates the odd field image and the even field image from the interlaced scanning image, and performs an image distortion correction process and an image arrangement process for each separated image. The image generator outputs two processed images in an interlaced scanning method.

Description

A METHOD FOR GENERATING AROUND VIEW OF VEHICLE CAPABLE OF REMOVING NOISE CAUSED BY OUTPUT DELAY}

The present invention relates to a method for generating a vehicle around view image, and more particularly, to an odd field and an even number when generating a vehicle around view image by using a deinterlaced scanning method that converts an interlaced scan image signal into a sequential progressive method. The present invention relates to a method for removing noise caused by delay between field image outputs.

Recently, with the development of IT technology, attempts to apply it to vehicles are increasing. For example, a black box device that mounts a camera in a vehicle to record driving conditions or surrounding conditions, or a parking assistance system that installs a camera in the rear of the vehicle to take a rearward image and output it to a display device inside the vehicle when the vehicle is reversed. This trend is reported to be increasing. Meanwhile, among these technologies, wide-angle cameras are installed in front, rear, left, and right sides of the vehicle, and the images captured from these cameras are reconstructed into images of the form directly above the vehicle, that is, viewed from above, and output to the display device of the vehicle. There has also been proposed a system for the driver's convenience.

Such a system is called a bird eye vie system or an AVM (around view monitoring) system in that it provides an image as if the bird is looking down from the sky. This technique uses a wide-angle camera with a fish eye lens to secure a wider viewing angle. When such a wide-angle camera is used, a distorted image is obtained as an initial image signal, thereby eliminating distortion. This requires a process to correct the image.

Meanwhile, an image processing apparatus using a deinterlaced scanning method is a technology for converting a signal of interlaced scanning method of TV broadcasting into a sequential scanning (progressive) method so that the LCD and PDP panel can recognize it. In order to display an image on a display device installed in a vehicle, such a deinterlaced scanning technique is applied.

1 is a flowchart illustrating a process of generating an around view image of a conventional vehicle.

Referring to FIG. 1, the conventional around view image generation method de-interlaces an image by an interlaced scanning method in which an odd field image and an even field image are synthesized and output, and then converts the image into a progressive scan (sequential scan) method. After the digital signal processing (image warping, image placement, etc.), it is converted into an interlace method and output as a composite image.

The interlaced scanning method scans and outputs odd and even fields separately, resulting in a delay of about 15 ms. Deinterlacing and converting it into a progressive scan image causes blur such as a step phenomenon in a very fast motion.

In addition, since the processed image is converted back to an interlaced scanning method, a delay of about 15 ms occurs again in this process, which causes a problem of further blurring.

In addition, due to the re-conversion to the interlaced scanning method, the processing time is long, which causes a problem in that real-time processing is difficult due to delay.

Therefore, there is a growing demand for a method for removing noise due to the odd field and even field output delays.

The present invention has been made to solve the above problems, and an object of the present invention is to blur the fast motion by outputting these images in an interlaced manner after digital image processing is performed on each of the odd field image and the even field image. It is to prevent ring phenomenon.

Another object of the present invention is to reduce the output delay by shortening the overall image processing time by eliminating the processing process according to the scanning method.

According to a preferred aspect of the present invention for achieving the above object, the step of inputting an interlaced scan image of a combination of odd field and even field images from a plurality of wide-angle camera installed to photograph the four sides of the vehicle, the interlaced scan image Separating the odd field image and the even field image from the image, performing distortion correction and image arrangement processing of the image on each of the separated images, and outputting the processed two images by an interlaced scanning method. A vehicle around view image generation method capable of removing noise due to an output delay is provided.

Here, the distortion correction and image arrangement processing of the image may be performed by referring to a lookup table in which mapping data indicating a correspondence between an image input from each camera and a composite image in which distortion is corrected is stored.

The lookup table may further include an odd field mapping data storage area for storing odd field mapping data for odd field images and an even field mapping data storage area for storing even field mapping data for even field images. Do.

The lookup table may include a first lookup table that stores first image mapping data of a relationship in which image pixels constituting an input image signal received from the wide angle camera correspond to image pixels on a terminal output window, and a previously generated user. A second lookup table for storing second image mapping data of a relationship in which image pixels constituting the interface image correspond to image pixels on the terminal output window and image pixels constituting the parking assist image correspond to the image pixels on the terminal output window More preferably, it comprises a third lookup table that stores third image mapping data for the relationship.

According to the present invention, when generating a vehicle around view image, it is possible to remove noise caused by a delay between odd field and even field image output, and to significantly improve image processing speed to provide an around view image of clearer image quality. This can be done to perform more effective parking assistance and support functions.

1 is a flowchart illustrating a process of generating an around view image of a conventional vehicle.
2 is a flowchart illustrating a process of generating an around view image of a vehicle according to the present invention.
3 is a block diagram illustrating an apparatus for generating an around view image of a vehicle according to the present invention.
FIG. 4 is a diagram for describing a concept of generating a vehicle around view image using a multi-lookup table.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

2 is a flowchart illustrating a process of generating an around view image of a vehicle according to the present invention.

Referring to FIG. 2, the method of generating an around view image of a vehicle according to the present invention comprises the steps of inputting an interlaced scan image obtained by synthesizing an odd field and an even field image from a plurality of wide-angle cameras installed to photograph all sides of the vehicle, and interlaced scan. Separating the odd field image and the even field image from the image, performing distortion correction and image arrangement processing of the image on each of the separated images, and outputting the processed two images by an interlaced scanning method; It is characterized by.

That is, the present invention does not convert the synthesized composite image of the odd field image and the even field image into a progressive scan image through deinterlacing, and separates each field image and then separates each field image. It is characterized in that the digital image processing is performed.

Here, the digital image processing may include a process of correcting distortion of an image photographed by a plurality of wide-angle cameras, a process of generating a single plane image by combining the corrected images, and the like.

The distortion correction processing and the single flattening processing may be processed separately, but mapping data relating to the relationship of the pixels constituting the image photographed by each camera to the specific pixels of the distortion correction and the single flattened composite image is mapped to the lookup table. In the case of storing and processing an image, it is preferable to generate an around view image through pixel mapping using a lookup table without a separate calculation process.

In the present invention, since the image processing is performed using only the interlace scan method, the conversion process between the conventional interlace scan image and the progressive scan image is omitted, and the overall processing speed is significantly increased.

3 is a block diagram illustrating an image generating apparatus for generating an around view image of a vehicle according to the present invention, and FIG. 4 is a view for explaining a concept of generating a vehicle around view image using a multi-lookup table.

Referring to FIG. 3, the image generating apparatus includes a plurality of wide-angle cameras 10, an image signal receiving unit 20, an image synthesizing unit 30, an image display unit 40, and a memory 50.

The wide-angle camera 10 is disposed to partially overlap the photographing area between adjacent wide-angle cameras, and is composed of at least two or more pieces, each of which photographs an image, converts the image into an electrical signal, and transmits the image signal to the image signal receiving unit 20. Preferably, the wide-angle camera 10 is installed in the front, rear, left, right of the vehicle so as to capture the front, rear, left, right image of the vehicle.

The image signal receiving unit 20 is a means for receiving a plurality of input image signals respectively obtained from the plurality of wide-angle cameras 10. The image signal receiving unit 20 pretransmits the received plurality of input image signals and transmits them to the image synthesizing unit 30. .

When the image synthesizing unit 30 receives a plurality of input image signals from the image signal receiving unit 20, the image synthesizing unit 30 performs a function of synthesizing the plurality of input images, the user interface image, and the parking assist image by referring to the lookup table of the memory 50. Perform.

The image display unit 40 displays the composite image on one terminal output window, and may be displayed in the form of the image on the right side of FIG. 4, which is a user interface display unit 61 displaying a user interface screen and a rear side. And a rear camera image display unit 62 displaying an image photographed by the wide-angle camera 10 installed in the display unit, and an around view image display unit 63 displaying surrounding images of the vehicle around the trajectory shape of the vehicle.

The memory 50 includes first to third lookup tables in which correspondences between the input image signal, the user interface image, the parking assist image, and the image pixel on the terminal output window are recorded.

The first lookup table 51 stores first image mapping data for a relationship in which image pixels constituting the received input image signal correspond to image pixels on the terminal output window corresponding to the 3D warping equation.

As described above, when the third warping equation according to Equation 3 is applied to the photographed distorted image, the coordinates of each pixel of the distorted image are corrected, and thus the coordinate information of each pixel of the distorted image and the corrected pixel are corrected. By recording the correspondence relationship between the coordinate information in the first lookup table 51, it is possible to quickly correct the distorted image by referring to the first lookup table 51 without calculating the complex third-order warping equation when generating the composite image. Will be.

The second lookup table 52 stores second image mapping data about a relationship in which image pixels constituting a pre-generated user interface image correspond to image pixels on a terminal output window. The user interface image includes an image constituting the user interface display unit and a vehicle image displayed at the center of the around view image display unit 63. The user interface image is generated in advance by a program maker, and records coordinate information when each pixel constituting the user interface image is displayed on the actual terminal output window as a lookup table.

The third lookup table 53 stores third image mapping data for a relationship in which image pixels constituting the parking assist image correspond to image pixels on the terminal output window. The parking assist image includes a vehicle trajectory image displayed on the rear camera image display unit and a rear sensing signal image displayed on the around view image display unit, and the rear sensing signal image is generated by the method as illustrated in FIG. 4. Coordinate information when each of the pixels constituting the subframe is displayed on the actual terminal output window is recorded as a lookup table. The rear sensing signal image is a sensing signal output when the rear obstacle is detected by the rear sensing sensor. The rear sensing signal image may be displayed as a plurality of arc images representing a distance from the rear obstacle to be detected. The relationship is stored in the third lookup table. Each arc image is displayed differently from the vehicle image according to the distance between the obstacle and the vehicle so that the user can easily determine the distance from the obstacle.

As illustrated in FIG. 4, the image synthesizing unit 40 refers to the first to third image mapping data regarding the correspondence relationship between the photographed distorted image, the user interface image, the parking assist image, and the terminal output window. User interface video, around view video and parking assist video can be displayed on the screen, greatly simplifying the image processing process.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it is possible to make various modifications and variations without departing from the spirit and scope of the invention. Accordingly, the appended claims are intended to cover such modifications or changes as fall within the scope of the invention.

10: wide angle camera 20: video signal receiver
30: image synthesizer 40: image display unit
50: memory 51: the first lookup table
52: second lookup table 53: third lookup table
61: user interface display unit 62: rear camera image display unit
63: around view video display unit

Claims (4)

Inputting an interlaced scan image obtained by synthesizing odd-field and even-field images from a plurality of wide-angle cameras installed to photograph all sides of the vehicle;
Separating an odd field image and an even field image from the interlace scan image;
Performing distortion correction and image placement processing on the separated images; And
And outputting the processed two images by an interlaced scanning method.
The method of claim 1,
The distortion correction and image placement processing of the image is performed by referring to a look-up table storing mapping data indicating a correspondence between an image input from each camera and a composite image whose distortion is corrected. How to create a vehicle around view image.
3. The method of claim 2,
The lookup table further includes an odd field mapping data storage area for storing odd field mapping data for odd field images, and an even field mapping data storage area for storing even field mapping data for even field images. A method of generating a vehicle around view image to remove noise caused by delay.
3. The method of claim 2,
The lookup table
A first lookup table for storing first image mapping data of a relationship in which image pixels constituting an input image signal received from the wide angle camera correspond to image pixels on a terminal output window;
A second lookup table configured to store second image mapping data of a relationship in which image pixels constituting a pre-generated user interface image correspond to image pixels on a terminal output window;
The image pixels constituting the parking assist image may include a third lookup table that stores third image mapping data on a relationship corresponding to the image pixels on the terminal output window. Vehicle around view image generation method.

Images