KR20220028940A - Method and apparatus for processing a plurality of images obtained from vehicle 's cameras - Google Patents

Abstract

According to one embodiment of the present invention, a method for processing an image obtained from multiple cameras of a vehicle comprises: a step of obtaining images including time stamps from multiple cameras linked to a vehicle terminal; a step of extracting a feature point of each image; a step of encrypting a second image obtained from a second camera using a first feature point of a first image obtained from a first camera; and a step of encrypting the first image acquired from the first camera using a second feature point of a second image acquired from the second camera.

Description

Method and apparatus for processing a plurality of images obtained from vehicle's cameras

The embodiment relates to an image processing method and apparatus obtained from a plurality of cameras of a vehicle.

A vehicle black box is an automatic driving data recording device that is installed in a vehicle to record and store the surroundings of the vehicle in real time.

In some countries, such as the United States and Europe, a bill to obligate the installation of black boxes for vehicles is underway, focusing on commercial vehicles, and the installation of black boxes for some commercial vehicles is also mandatory in Korea. Currently, the development of a vehicle black box is actively progressing in Korea, and the black box typically includes an on-board camera, a display unit, and a memory. Recently, by further developing the function of such a vehicle black box, various image data, for example, front, rear, AVM (Around View Monitor) images, and various sensor data, for example, radar, lidar, pose estimation, V2X , is developing into a device for storing accident occurrence data by collecting digital map data and vehicle data together. In other words, in order to identify the cause of malfunction, deterioration, or failure, accident occurrence data must be stored, and the vehicle driving record and accident record necessary for testing and event reconstruction are stored in the form of data that can be restored inside and outside the vehicle. means

One embodiment is an image processing method and apparatus obtained from a plurality of cameras of a vehicle. Another object of the present invention is to provide a computer-readable recording medium in which a program for executing the method in a computer is recorded. The technical problem to be solved is not limited to the technical problems as described above, and other technical problems may exist.

An image processing method obtained from a plurality of cameras of a vehicle according to an embodiment includes: obtaining images each including time stamps from a plurality of cameras linked to a vehicle terminal; extracting feature points of each image; and encrypting the second image obtained from the second camera using the first feature points of the first image obtained from the first camera, and using the second feature points of the second image obtained from the second camera and encrypting the first image obtained from the camera.

The vehicle terminal is characterized in that it is a black box.

The encryption may include an image frame number corresponding to the first image, first image data corresponding to the image frame number, a first feature point extracted from the first image, and the second image based on a predetermined reference time. It is characterized in that it is performed in the first processing block including the hash data generated based on the second feature point extracted from.

In the encryption step, an image frame number corresponding to a second image input after the first image, second image data corresponding to the image frame number, and a second image extracted from the image data based on the predetermined reference time It is characterized in that it is performed in the second processing block including the first key point and the hash data generated based on the second key point extracted from the second image.

Each of the first processing block and the second processing block performs encryption processing in the order in which the images obtained from the plurality of cameras are input.

A method of verifying an encrypted image as a method of processing images obtained from a plurality of cameras of a vehicle according to another embodiment, wherein the verification method decrypts the encrypted image using the first and second feature points, , characterized in that it is determined whether or not the captured image is manipulated based on a timestamp included in each image and an image change according to time.

According to another embodiment, an apparatus for processing images obtained from a plurality of cameras of a vehicle includes: a plurality of cameras interlocked with a vehicle terminal; and a processor;

The processor obtains images including respective time stamps from a plurality of cameras linked with the plurality of camera vehicle terminals, extracts feature points of each image, and first The second image acquired from the second camera is encrypted using the feature point, and the first image acquired from the first camera is encrypted using the second feature point of the second image acquired from the second camera.

The vehicle terminal is characterized in that it is a black box.

The processor, based on a predetermined reference time, from an image frame number corresponding to the first image, first image data corresponding to the image frame number, a first feature point extracted from the first image, and the second image It is characterized in that it is performed in the first processing block including the hash data generated based on the extracted second feature point.

The processor is configured to: an image frame number corresponding to a second image input after the first image, second image data corresponding to the image frame number, and a first image data extracted from the image data based on the predetermined reference time It is characterized in that the second processing block including the key point and hash data generated based on the second key point extracted from the second image is performed.

Each of the first processing block and the second processing block performs encryption processing in the order in which the images obtained from the plurality of cameras are input.

An apparatus for verifying an encrypted image through an apparatus for processing images obtained from a plurality of cameras of a vehicle according to another embodiment, the apparatus comprising:

Decrypting the encrypted image using the first and second feature points, and determining whether the captured image is manipulated based on a timestamp included in each image and an image change over time is determined.

1 is an internal block diagram of a vehicle;
FIG. 2 is a block diagram of the vehicle driving assistance system (ADAS) shown in FIG. 1 .
3 is a schematic diagram of an image processing apparatus 300 obtained from a plurality of cameras of a vehicle according to an exemplary embodiment.
4 is an exemplary view of a plurality of cameras provided in a vehicle.
5 and 6 are exemplary views for explaining an image processing method obtained from a plurality of cameras of a vehicle according to another embodiment.
7 is a flowchart for explaining an image processing method obtained from a plurality of cameras of a vehicle.

Terms used in this specification will be briefly described, and the present invention will be described in detail.

The terms used in the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, but this may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

In the entire specification, when a part "includes" a certain element, this means that other elements may be further included, rather than excluding other elements, unless otherwise stated. In addition, terms such as "...unit" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software. .

Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings.

1 is an internal block diagram of a vehicle according to an exemplary embodiment.

Referring to FIG. 1 , a vehicle 100 includes a communication unit 110 , an input unit 120 , a sensing unit 125 , a memory 130 , an output unit 140 , a vehicle driving unit 150 , and a vehicle driving assistance system (ADAS). , 160 ), a control unit 170 , an interface unit 180 , and a power supply unit 190 .

The communication unit 110 may include a short-range communication module, a location information module, an optical communication module, and a V2X communication module.

The input unit 120 may include a driving operation means, a camera, a microphone, and a user input unit.

The driving operation means receives a user input for driving the vehicle 100 . The driving operation means may include a steering input means, a shift input means, an acceleration input means, and a brake input means.

The acceleration input means receives an input for acceleration of the vehicle 100 from a user. The brake input means receives an input for decelerating the vehicle 100 from a user.

The camera may include an image sensor and an image processing module. The camera may process still images or moving images obtained by an image sensor (eg, CMOS or CCD). The image processing module may process a still image or a moving image obtained through the image sensor, extract necessary information, and transmit the extracted information to the controller 170 .

Meanwhile, the vehicle 100 may include a front camera for photographing an image of the front of the vehicle, an around-view camera for photographing an image around the vehicle, and a rear camera for photographing an image of the rear of the vehicle. Each camera may include a lens, an image sensor and a processor. The processor may computer-process the captured image to generate data or information, and transmit the generated data or information to the controller 170 . The processor included in the camera may be controlled by the controller 170 .

The camera may include a stereo camera. In this case, the processor of the camera may detect a distance to an object, a relative speed to an object detected in the image, and a distance between a plurality of objects by using a disparity difference detected in the stereo image.

The camera may include a Time of Flight (TOF) camera. In this case, the camera may include a light source (eg, infrared or laser) and a receiver. In this case, the processor of the camera detects the distance to the object, the relative speed to the object, and the distance between the plurality of objects based on the time (TOF) until the infrared or laser emitted from the light source is reflected by the object and received. can do.

Meanwhile, the rear camera may be disposed in the vicinity of the rear license plate or the trunk or tailgate switch, but the position where the rear camera is disposed is not limited thereto.

Each image captured by the plurality of cameras may be transmitted to a processor of the camera, and the processor may synthesize the respective images to generate an image around the vehicle. In this case, the image around the vehicle may be displayed through the display unit as a top view image or a bird's eye image.

The sensing unit 125 senses various situations of the vehicle 100 . To this end, the sensing unit 125 includes a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight sensor, a heading sensor, a yaw sensor, and a gyro sensor. , position module, vehicle forward/reverse sensor, battery sensor, fuel sensor, tire sensor, steering sensor by steering wheel rotation, vehicle interior temperature sensor, vehicle interior humidity sensor, ultrasonic sensor, illuminance sensor, radar, lidar, etc. may include

Accordingly, the sensing unit 125 may include vehicle collision information, vehicle direction information, vehicle location information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle inclination information, vehicle forward/reverse information, and battery information. , fuel information, tire information, vehicle lamp information, vehicle internal temperature information, vehicle internal humidity information, steering wheel rotation angle, and sensing signals for external illumination of the vehicle may be acquired.

The memory 130 is electrically connected to the control unit 170 . The memory 130 may store basic data for the unit, control data for operation control of the unit, and input/output data. The memory 130 may be various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, etc. in terms of hardware. The memory 130 may store various data for the overall operation of the vehicle 100 , such as a program for processing or controlling the controller 170 .

The output unit 140 is for outputting information processed by the control unit 170 , and may include a display unit, a sound output unit, and a haptic output unit.

The display unit may display information processed by the control unit 170 . For example, the display unit may display vehicle-related information. Here, the vehicle-related information may include vehicle state information indicating the current state of the vehicle or vehicle operation information related to the operation of the vehicle. For example, the display unit may display the current speed (or speed) of the vehicle, the speed (or speed) of the surrounding vehicle, and distance information between the current vehicle and the surrounding vehicle.

Meanwhile, the display unit may include a cluster so that the driver can check vehicle state information or vehicle operation information while driving. The cluster may be located above the dashboard. In this case, the driver may check the information displayed on the cluster while maintaining the gaze in front of the vehicle.

The sound output unit converts the electric signal from the controller 170 into an audio signal and outputs the converted signal. To this end, the sound output unit may include a speaker or the like.

The vehicle driving unit 150 may control operations of various devices of the vehicle. The vehicle driving unit 150 may include a power source driving unit, a steering driving unit, a brake driving unit, a lamp driving unit, an air conditioning driving unit, a window driving unit, an airbag driving unit, a sunroof driving unit, and a suspension driving unit.

The power source driving unit may perform electronic control of the power source in the vehicle 100 . For example, when a fossil fuel-based engine (not shown) is a power source, the power source driving unit may electronically control the engine. Thereby, the output torque of an engine, etc. can be controlled. When the power source driving unit is the engine, the speed of the vehicle may be limited by limiting the engine output torque under the control of the controller 170 .

The brake driving unit may electronically control a brake apparatus (not shown) in the vehicle 100 . For example, the speed of the vehicle 100 may be reduced by controlling the operation of a brake disposed on the wheel. As another example, the moving direction of the vehicle 100 may be adjusted to the left or right by changing the operation of the brakes respectively disposed on the left wheel and the right wheel.

The lamp driver may control turning on/off of a lamp disposed inside or outside the vehicle. In addition, it is possible to control the intensity and direction of the light of the lamp. For example, control of a direction indicator lamp, a brake lamp, and the like may be performed.

The controller 170 may control the overall operation of each unit in the vehicle 100 . The control unit 170 may be referred to as an Electronic Control Unit (ECU). The above-described accident determination apparatus may be driven by the control unit 170 .

The control unit 170, in hardware, ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs (field programmable gate arrays), processors ( processors), controllers, micro-controllers, microprocessors, and other electrical units for performing other functions may be implemented using at least one.

In an embodiment, the controller 170 sets an area that can be photographed by a plurality of cameras in the vehicle, determines whether a predetermined object exists within the set photographable area, determines whether the vehicle is in a driving or parked state, and an object that exists It is possible to determine the presence or absence of an accident based on the type of , and record an image obtained by photographing a predetermined scene in the memory according to the determination result. Accident determination or accident image storage according to an embodiment does not select an image to be recorded by the impact sensor, but uses only the image, and applies image analysis or object recognition and accident determination algorithm, so that the sensor malfunctions It is possible to overcome the shortcomings of the storage of the accident video.

The interface unit 180 may serve as a passage with various types of external devices connected to the vehicle 100 . For example, the interface unit 180 may have a port connectable to a mobile terminal (not shown), and may connect to a mobile terminal (not shown) through the port. In this case, the interface unit 180 may exchange data with the mobile terminal.

The power supply unit 190 may supply power required for operation of each component under the control of the control unit 170 . In particular, the power supply unit 190 may receive power from a battery (not shown) inside the vehicle.

FIG. 2 is a block diagram of the vehicle driving assistance system (ADAS) shown in FIG. 1 .

The ADAS 200 is a vehicle driving assistance system that assists the driver to provide convenience and safety.

The ADAS 200 includes an automatic emergency braking module (hereinafter, AEB: Autonomous Emergency Braking) 210, a forward collision avoidance module (hereinafter, FCW: Forward Collision Warning) 211, and a lane departure warning module (hereinafter, LDW: Lane). Departure Warning) (212), Lane Keeping Assist Module (LKA: Lane Keeping Assist) (213), Speed Assist System Module (SAS: Speed Assist System) (214), Traffic Signal Detection Module (TSR: Traffic Sign) Recognition) (215), Adaptive High Beam Control Module (hereinafter, HBA: High Beam Assist) (216), Blind Spot Monitoring Module (hereinafter, BSD: Blind Spot Detection) (217), Automatic Emergency Steering Module (hereinafter, AES: Autonomous Emergency Steering) (218), Curve Speed Warning System Module (hereinafter, CSWS: Curve Speed Warning System) (219), Adaptive Cruise Control (hereinafter, ACC: Adaptive Cruise Control) (220), Smart Parking System Module (hereinafter) , SPAS: Smart Parking Assist System) 221 , a traffic jam support module (hereinafter, TJA: Traffic Jam Assist) 222 , and an around view monitor module (hereinafter, AVM: Around View Monitor) 223 . .

Each of the ADAS modules 210 , 211 , 212 , 213 , 214 , 215 , 216 , 217 , 218 , 219 , 220 , 221 , 222 , 223 may include a processor for controlling a vehicle driving assistance function.

A processor included in each of the ADAS modules 210 , 211 , 212 , 213 , 214 , 215 , 216 , 217 , 218 , 219 , 220 , 221 , 222 , 223 may be controlled by the controller 270 . .

Each of the ADAS modules 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223 processor is, in hardware, ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs (field programmable gate arrays), processors, controllers, micro-controllers, microprocessors ( microprocessors) and may be implemented using at least one of electrical units for performing other functions.

The AEB 210 is a module for controlling automatic braking in order to prevent a collision with a detected object. The FCW 211 is a module that controls to output a warning in order to prevent a collision with an object in front of the vehicle. The LDW 212 is a module that controls to output a warning to prevent lane departure while driving. The LKA 213 is a module that controls to maintain a driving lane while driving. The SAS 214 is a module that controls the vehicle to travel at a set speed or less. The TSR 215 is a module that detects a traffic signal while driving and provides information based on the detected traffic signal. The HBA 216 is a module that controls the irradiation range or irradiation amount of the high beam according to the driving situation. The BSD 217 is a module that detects an object outside the driver's field of view while driving and provides detection information. The AES 218 is a module that automatically performs steering in an emergency. The CSWS 219 is a module that controls to output a route when driving at a speed higher than a preset speed during curve driving. The ACC 220 is a module that controls to follow and drive a preceding vehicle. The SPAS 221 is a module that detects a parking space and controls to park in the parking space. The TJA 222 is a module that controls to automatically operate in case of traffic jam. The AVM 223 is a module that provides an image around the vehicle and controls to monitor the surroundings of the vehicle.

The ADAS 200 provides a control signal for performing each vehicle driving assistance function to the output unit 250 or the vehicle driving unit 260 based on the data obtained from the input unit 230 or the sensing unit 235 . can do. The ADAS 200 may directly output the control signal to the output unit 250 or the vehicle driving unit 260 through in-vehicle network communication (eg, CAN). Alternatively, the ADAS 200 may output the control signal to the output unit 250 or the vehicle driving unit 260 via the control unit 270 .

3 is a schematic diagram of an image processing apparatus 300 obtained from a plurality of cameras of a vehicle according to an exemplary embodiment.

Referring to FIG. 3 , the image processing apparatus 300 obtains images including respective time stamps from a plurality of cameras interlocked with a vehicle terminal, extracts feature points of each image, and obtains first images obtained from the first camera. Encrypts the second image acquired from the second camera using the first feature point of the first image, and encrypts the first image acquired from the first camera using the second feature point of the second image acquired from the second camera . The image processing apparatus 300 according to an embodiment receives an image including a unique time stamp from multiple cameras installed in a vehicle, acquires a feature value or a feature point of an instantaneous image of the installed multi-camera, and then used for video encryption of Thereafter, multiple images act as each other's keys for image decoding, so that synchronization and integrity can be secured. That is, since an image is used as an encryption key, it is also possible to perform an auxiliary function of immediately confirming and warning the abnormality of each image input by checking the presence or absence of time stamp and the amount of image change according to time change. In an embodiment, the image processing apparatus 300 performs encryption, and a separate verification device or a decryption device (not shown) performs decryption and verification functions. Also, the image processing apparatus 300 may perform encryption and decryption functions together.

Therefore, as the number of cases of using multiple cameras to assist drivers and record driving conditions and use them as legal data increases, it is possible to secure the synchronization status of images between cameras and the integrity of image manipulation.

Referring back to FIG. 3 , the image processing apparatus 300 may be the ADAS described with reference to FIGS. 1 and 2 , but is not limited thereto, and may be a black box, a navigation device, an IVI device, or a telematics terminal.

The image processing apparatus 300 includes an image input unit 310 , a feature value acquisition unit 320 , and an image encryption unit 330 . The image input unit 310 acquires images including time stamps from a plurality of cameras linked to the vehicle terminal. As shown in FIG. 4 , when there are front cameras 1 and 2 , left and right cameras 3 , 5 and rear camera 4 installed in the vehicle, images can be received from each of the cameras 1 to 5 . .

The feature value acquisition unit 320 extracts a feature point of each input image. Here, the feature points or feature values of the image are keypoints or interesting points, and are values that can be easily identified even if the shape, size, or position of an object changes. For example, it means a value that can easily find a corresponding point in an image even if the camera's viewpoint and lighting change. For example, in the case of a corner point of an image, a feature point is extracted using a corner point extraction algorithm. Here, although the corner point has been described as an example, the present invention is not limited thereto, and various feature points or feature values may be used.

The image encryption unit 330 performs encryption processing in order of images input from a plurality of cameras in units of processing blocks. The first processing block includes an image frame number corresponding to the first image, first image data corresponding to the image frame number, a first feature point extracted from the first image, and a second image extracted from the second image based on a predetermined reference time. 2 It is encrypted by including the hash data generated based on the feature point.

In addition, the second processing block extracts an image frame number corresponding to a second image input after the first image, second image data corresponding to the image frame number, a first feature point extracted from the image data, and a second image The hash data generated based on the second feature point is included and encrypted.

5 and 6 are exemplary views for explaining an image processing method obtained from a plurality of cameras of a vehicle according to another embodiment.

Referring to FIG. 5 , images captured by the five cameras 1 to 5 shown in FIG. 4 are shown. Each camera is photographed at 30 fps (frame per second), and the image order of the cameras is indicated by -X. Time 0 means a point in time when recording is possible in the system. Also, it is assumed that the time point at which images captured from all cameras are transmitted to the processor after time 0 is 0 to 66.6 ms.

The images captured by the camera 1 are sequentially input as 1*3, 1*4, and 1*5, and images captured by the cameras 2 to 5 are also sequentially input.

At reference time 0, the 3rd image taken by the camera 1, the 3rd image taken by the camera 3, the 3rd image taken by the camera 2, the 3rd image taken by the camera 5, the camera The 4th image taken in (4) is input. All images captured by 5 cameras are processed within 66.6ms.

Referring to FIG. 6, encryption processing blocks are shown as BLOCK #N to BLOCK #N+5.

First, BLOCK #N encrypts the vehicle identification number hash, the image number (3rd, 3rd frame) of the camera 1, and the image data of the 3rd frame.

Next, BLOCK #N+1 encrypts the third image captured by the second input camera 3 as shown in FIG. 5 . That is, the feature point of the third image captured by the camera 3, the hash of the previous block, that is, BLOCK #N (that is, it may be a feature point extracted from the image data of the third frame of the camera 1), the camera 3 ) of the image number (3), and the image data of the third frame captured by the camera (3) are encrypted. Here, the encryption key may use a feature point extracted from the image data of the third frame of the camera 1 . Here, the encryption key method has been described, but the present invention is not limited thereto, and it goes without saying that it can be inserted as a watermark.

Next, BLOCK #N+2 encrypts the third image captured by the third input camera 2 as shown in FIG. 5 . That is, the feature point of the third image captured by the camera 2, the hash of the previous block, that is, BLOCK #N+1 (that is, it may be a feature point extracted from the image data of the third frame of the camera 3), the camera The video number (3) of (2) and the video data of the third frame captured by the camera (2) are encrypted. d Here, the encryption key uses the hash of BLOCK #N+1.

In BLOCK #N+3 to BLOCK #N+5, in the same manner as described above, by using the hash of the previous block (that is, the feature points of image data captured by another camera), forgery or manipulation of the image of a specific camera is prevented. can be checked easily.

In an embodiment, by decrypting an image encrypted through the above-described encryption method, a timestamp included in each image and image change according to time, that is, the order of images input to the processing block and the order of images captured by each camera It is possible to easily verify or determine whether the image taken based on the manipulation has been performed.

8 is a flowchart for explaining an image processing method obtained from a plurality of cameras of a vehicle.

Referring to FIG. 8 , in step 800 , images including respective time stamps are obtained from a plurality of cameras linked to a vehicle terminal.

In step 702, feature points of each image are extracted.

In step 704, the second image acquired from the second camera is encrypted using the first feature points of the first image acquired from the first camera.

In step 706, the first image acquired from the first camera is encrypted using the second feature point of the second image acquired from the second camera.

A device according to an embodiment includes a processor, a memory for storing and executing program data, a permanent storage such as a disk drive, a communication port for communicating with an external device, a user such as a touch panel, a key, a button, etc. It may include an interface device and the like. Methods implemented as software modules or algorithms may be stored on a computer-readable recording medium as computer-readable codes or program instructions executable on the processor. Here, the computer-readable recording medium includes a magnetic storage medium (eg, read-only memory (ROM), random-access memory (RAM), floppy disk, hard disk, etc.) and an optically readable medium (eg, CD-ROM). ) and DVD (Digital Versatile Disc)). The computer-readable recording medium may be distributed among network-connected computer systems, so that the computer-readable code may be stored and executed in a distributed manner. The medium may be readable by a computer, stored in a memory, and executed on a processor.

Reference signs have been described in the embodiments shown in the drawings, and specific terms are used to describe the embodiments, but the present invention is not limited by the specific terms, and the embodiments are all configurations commonly conceivable by those skilled in the art. It may contain elements.

An embodiment may be represented by functional block configurations and various processing steps. These functional blocks may be implemented in any number of hardware and/or software configurations that perform specific functions. For example, an embodiment may be an integrated circuit configuration, such as memory, processing, logic, look-up table, etc., capable of executing various functions by the control of one or more microprocessors or other control devices. can be hired Similar to how the components of the present invention may be implemented as software programming or software components, embodiments may include various algorithms implemented as data structures, processes, routines, or combinations of other programming constructs, including C, C++ , Java, assembler, etc. may be implemented in a programming or scripting language. Functional aspects may be implemented in an algorithm running on one or more processors. In addition, the embodiment may employ the prior art for electronic environment setting, signal processing, and/or data processing, and the like. Terms such as “mechanism”, “element”, “means” and “configuration” may be used broadly and are not limited to mechanical and physical configurations. The term may include the meaning of a series of routines of software in association with a processor or the like.

The specific implementations described in the embodiment are only embodiments, and do not limit the scope of the embodiment in any way. For brevity of the specification, descriptions of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of lines between the components shown in the drawings illustratively represent functional connections and/or physical or circuit connections, and in an actual device, various functional connections, physical connections that are replaceable or additional may be referred to as connections, or circuit connections. In addition, unless there is a specific reference such as "essential" or "importantly", it may not be a necessary component for the application of the present invention.

In the specification of embodiments (especially in the claims), the use of the term “the” and similar referential terms may correspond to both the singular and the plural. In addition, when a range is described in the embodiment, it includes the invention to which individual values belonging to the range are applied (unless there is a description to the contrary), and each individual value constituting the range is described in the detailed description. . Finally, the steps constituting the method according to the embodiment may be performed in an appropriate order unless the order is explicitly stated or there is no description to the contrary. The embodiments are not necessarily limited according to the order of description of the above steps. The use of all examples or exemplary terms (eg, etc.) in the embodiment is merely for describing the embodiment in detail, and unless it is limited by the claims, the scope of the embodiment is limited by the examples or exemplary terminology. it is not In addition, those skilled in the art will recognize that various modifications, combinations, and changes can be made in accordance with design conditions and factors within the scope of the appended claims or their equivalents.

Claims (13)

acquiring images including time stamps from a plurality of cameras linked to a vehicle terminal;
extracting feature points of each image; and
Encrypting a second image obtained from a second camera using a first feature point of a first image obtained from the first camera, and using a second feature point of a second image obtained from the second camera, the first camera A method of processing images obtained from a plurality of cameras of a vehicle, comprising the step of encrypting a first image obtained from The method of claim 1,
The vehicle terminal is a method of processing images obtained from a plurality of cameras of the vehicle, characterized in that the black box. The method of claim 1,
The encryption step is
Based on a predetermined reference time, an image frame number corresponding to the first image, first image data corresponding to the image frame number, a first feature point extracted from the first image, and a second image extracted from the second image A method of processing images obtained from a plurality of cameras of a vehicle, characterized in that it is performed in a first processing block including hash data generated based on the feature points. 4. The method of claim 3,
The encryption step is
Based on the predetermined reference time, an image frame number corresponding to a second image input after the first image, second image data corresponding to the image frame number, a first feature point extracted from the image data, and the first image data 2 A method of processing images obtained from a plurality of cameras of a vehicle, characterized in that the second processing block includes hash data generated based on the second feature points extracted from the images. 5. The method of claim 4,
Each of the first processing block and the second processing block,
The method of processing images acquired from a plurality of cameras of a vehicle, characterized in that the encryption processing is performed in the order in which the images acquired from the plurality of cameras are input. A method of verifying an image encrypted by the method according to any one of claims 1 to 5, comprising:
The verification method is
Decrypting the encrypted image using the first and second feature points,
A verification method, characterized in that it is determined whether or not the captured image is manipulated based on a timestamp included in each image and an image change according to time. A recording medium recording a program for executing the method according to any one of claims 1 to 5 in a computer. a plurality of cameras interlocked with the vehicle terminal; and
including a processor;
The processor is
Obtaining images including respective time stamps from a plurality of cameras linked with the plurality of camera vehicle terminals, extracting feature points of each image, and using the first feature points of the first image obtained from the first camera Obtaining from a plurality of cameras of a vehicle that encrypts a second image obtained from a second camera and encrypts a first image obtained from the first camera using a second feature point of the second image obtained from the second camera A device that processes the image. 9. The method of claim 8,
The vehicle terminal is a method of processing images obtained from a plurality of cameras of the vehicle, characterized in that the black box. 9. The method of claim 8,
The processor is
Based on a predetermined reference time, an image frame number corresponding to the first image, first image data corresponding to the image frame number, a first feature point extracted from the first image, and a second image extracted from the second image An apparatus for processing images obtained from a plurality of cameras of a vehicle, characterized in that it is performed in a first processing block including hash data generated based on the feature point. 11. The method of claim 10,
The processor is
Based on the predetermined reference time, an image frame number corresponding to a second image input after the first image, second image data corresponding to the image frame number, a first feature point extracted from the image data, and the first image data 2 An apparatus for processing images obtained from a plurality of cameras of a vehicle, characterized in that the second processing block is performed in a second processing block including hash data generated based on second feature points extracted from the images. 12. The method of claim 11,
Each of the first processing block and the second processing block,
An apparatus for processing images acquired from a plurality of cameras of a vehicle, characterized in that encryption processing is performed in the order in which the images acquired from the plurality of cameras are input. 13. An apparatus for verifying an encrypted image through the apparatus according to any one of claims 8 to 12, comprising:
The verification device is
Decrypting the encrypted image using the first and second feature points,
Verification apparatus, characterized in that it is determined whether the captured image is manipulated based on a timestamp included in each image and an image change according to time.

Images