US20130033495A1 - Image generation device and operation support system - Google Patents

Image generation device and operation support system Download PDF

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Publication number
US20130033495A1
US20130033495A1 US13/649,378 US201213649378A US2013033495A1 US 20130033495 A1 US20130033495 A1 US 20130033495A1 US 201213649378 A US201213649378 A US 201213649378A US 2013033495 A1 US2013033495 A1 US 2013033495A1
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coordinates
image
space model
plane
output image
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Yoshihisa KIYOTA
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Assigned to SUMITOMO HEAVY INDUSTRIES, LTD. reassignment SUMITOMO HEAVY INDUSTRIES, LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KIYOTA, YOSHIHISA
Publication of US20130033495A1 publication Critical patent/US20130033495A1/en
Priority to US15/062,417 priority Critical patent/US9881412B2/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/10—Geometric effects
    • G06T15/20—Perspective computation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
    • H04N13/221—Image signal generators using stereoscopic image cameras using a single 2D image sensor using the relative movement between cameras and objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/12—Panospheric to cylindrical image transformations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers

Definitions

  • the present invention relates to an image generation device that generates an output image based on input images taken by image-taking means mounted on a body to be operated, which is capable of performing a turning operation, and an operation support system using the device.
  • an image generation device that maps an input image from a camera on a predetermined space model on a three-dimensional space, and generates a visual point conversion image, which is viewed from an arbitrary virtual visual point in the three-dimensional space while referring to the mapped space data (for example, refer to Japanese Patent Publication No. 3286306).
  • the image generation device disclosed in Patent Document 1 projects an image taken by a camera mounted on a vehicle onto a three-dimensional space model configured by a plurality of plane surfaces or curved surfaces that surround the vehicle.
  • the image generation device generates a visual point conversion image using the image projected onto the space model, and displays the produced visual point conversion image to a driver.
  • the visual point conversion image is an image of a combination of a road surface image, which virtually reflects a state of a road taken from directly above, and a horizontal image, which reflects a horizontal direction image.
  • the image generation device relates, when the driver driving the vehicle looks the visual point conversion image, an object in the visual point conversion image to an object actually existing outside the vehicle without giving an uncomfortable feeling.
  • the image generation device disclosed in Patent Document 1 is assumed to be mounted on a vehicle, and is not supposed to be mounted on a body to be operated such as a construction machine capable to perform a turning operation. Accordingly, the image generation device disclosed in Patent Document 1 cannot generate a view point conversion image suitable for observing a surrounding area of a body to be operated during a turning operation.
  • an image generation device that generates an output image based on an image obtained by taking images by an image-taking part mounted to a body to be operated, which boy is capable of performing a turning operation
  • the image generation device including: a coordinates correspondence part configured to cause coordinates on a columnar space model, which is arranged to surround the body to be operated and has a center axis, to correspond to coordinates on an image plane on which the input image is positioned; and an output image generation part configured to generate the output image by causing values of the coordinates on the input image plane to correspond to values of the coordinates on an output image plane on which the output image is positioned through coordinates on the columnar space model, wherein the columnar space model is arranged so that an optical axis of the image-taking part intersects with the center axis of the columnar space model.
  • an image generation device that generates an output image based on input images obtained by taking images by a plurality of image-taking parts mounted to a body to be operated, which body is capable of performing a turning operation
  • the image generation device including: a coordinates correspondence part configured to cause coordinates on a columnar space model, which is arranged to surround the body to be operated and has a center axis, to correspond to coordinates on an image plane on which the input image is positioned; and an output image generation part configured to generate the output image by causing values of the coordinates on the input image plane to correspond to values of the coordinates on an output image plane on which the output image is positioned through coordinates on the columnar space model, wherein the columnar space model is arranged so that each of components of a projection of optical axes of the image-taking parts on a plane perpendicular to the center axis intersects at a single point on the center axis of the columnar space model.
  • an operation support system that supports a movement or an operation of a body to be operated, including: the above-mentioned image generation device; and a display part configured to display the output image generated by the image generation device.
  • an image generation device which generates an output image suitable for observing a surrounding area during a turning operation, and an operation support system using the device.
  • FIG. 1 is a block diagram illustrating an outline structure of an image generation device according to an embodiment of the present invention.
  • FIG. 2 is a side view of a shovel to which the image generation device is mounted.
  • FIG. 3A is a side view of a space model to which an input image is projected.
  • FIG. 3B is a plan view of the space model illustrated in FIG. 3A .
  • FIG. 4 is a perspective view illustrating a relationship between the space model and an image plane to be processed.
  • FIG. 5 is a diagram for explaining a correspondence between coordinates on an input image plane and coordinates on a space model.
  • FIG. 6A is a diagram illustrating a correspondence relationship between coordinates on an input image plane of a camera using a normal projection and coordinates on a space model MD.
  • FIG. 6B is a diagram illustrating a correspondence relationship between coordinates on a curved surface area of the space model MD and coordinates on an image plane to be processed.
  • FIG. 6C is a diagram illustrating a correspondence relationship between coordinates on the image plane to be processed and coordinates on output image plane of a virtual camera using a normal projection.
  • FIG. 6D is a diagram illustrating a mutual positional relationship between the camera, the virtual camera, the plane surface area and the curved surface area of the space model MD and the image plane to be processed.
  • FIG. 7A is a view illustrating a state where an angle ⁇ is formed between a group of parallel lines positioned on an XZ-plane and a processing-target image plane.
  • FIG. 7B is a view illustrating a state where an angle ⁇ 1 is formed between a group of parallel lines positioned on the XZ-plane and a processing-target image plane.
  • FIG. 8A is a view illustrating a state where all of a group of auxiliary lines positioned on the XZ-plane extend from a start point on a Z-axis toward the processing-target image plane.
  • FIG. 8B is a view illustrating a state where all of a group of auxiliary lines extend from a start point on the Z-axis toward the processing-target image plane.
  • FIG. 9A is a view illustrating a state where an angle ⁇ is formed between a group of parallel lines positioned on the XZ-plane and a processing-target image plane.
  • FIG. 9B is a view illustrating a state where an angle ⁇ 2 is formed between a group of parallel lines positioned on the XZ-plane and a processing-target image plane.
  • FIG. 10 is a view illustrating a state where an angle ⁇ is formed between a group of parallel lines positioned on the XZ-plane and a processing-target image plane.
  • FIG. 11 is a flowchart of a processing-image generation process and an output image generation process.
  • FIG. 12A is a plan view for explaining a positional relationship between a camera and a space model in a case where a single rod-shaped object exists.
  • FIG. 12B is a perspective view for explaining a positional relationship between the camera and the space model in the case where the single rod-shaped object exists.
  • FIG. 12C is a plan view for explaining a processing-target image generated in the case where the single rod-shaped object exists.
  • FIG. 13A is a plan view for explaining a positional relationship between a camera and a space model in a case where two rod-shaped objects exist.
  • FIG. 13B is a perspective view for explaining a positional relationship between the camera and the space model in the case where the two rod-shaped objects exist.
  • FIG. 13C is a plan view for explaining a processing-target image generated in the case where the two rod-shaped objects exist.
  • FIG. 14A is a plan view for explaining a positional relationship between a camera and a space model in another case where two rod-shaped objects exist.
  • FIG. 14B is a perspective view for explaining a positional relationship between the camera and the space model in another case where the two single rod-shaped objects exist.
  • FIG. 14C is a plan view for explaining a processing-target image generated in another case where the two rod-shaped objects exist.
  • FIG. 15 is a view illustrating an example of display of an output image.
  • FIG. 1 is a block diagram illustrating an outline structure of an image generation device according to an embodiment of the present invention.
  • the image generation device 100 generates, for example, an output image based on input images taken by a camera 2 mounted on a construction machine, and presents the output image to an operator.
  • the image generation device 100 includes a control part 1 , the camera 2 , an input part 3 , a storage part 4 and a display part 5 .
  • FIG. 2 is a side view of an excavator 60 to which the image generation device is mounted.
  • the excavator 60 includes a lower-part running body 61 of a crawler type, a turning mechanism 61 and an upper-part turning body 63 .
  • the upper-part turning body 63 is mounted on the lower-part running body 61 via the turning mechanism 62 so as to be turnable about a tuning axis PV.
  • a cab (driver's cabin) 64 is provided on a front left side part of the upper-part turning body 63 , and an excavation attachment E is provided on a front central part.
  • the cameras 2 (a right side camera 2 R and a backside camera 2 B) are provided on a right side surface and a rear surface of the upper-part turning body 63 .
  • the display part 5 is installed in the cab 64 at a position where the display part 5 can be easily viewed by an operator.
  • the control part 1 includes a computer provided with a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an NVRAM (Non-Volatile Random Access Memory), etc.
  • a CPU Central Processing Unit
  • RAM Random Access Memory
  • ROM Read Only Memory
  • NVRAM Non-Volatile Random Access Memory
  • programs corresponding to each of a coordinates correspondence part 10 and an output image generation part 11 mentioned later are stored in the ROM or the NVRAM.
  • the CPU performs processing by executing a program corresponding to each means while using the RAM as a temporary storage area.
  • the camera 2 is a device for acquiring an input image which projects a circumference of the excavator 60 , and includes a right side camera 2 R and a backside camera 2 B.
  • the right side camera 2 R and the backside camera 2 B are attached to the right side surface and the rear surface of the upper-part turning body 63 so that, for example, an image of an area of a dead zone to the operator can be taken (refer to FIG. 2 ).
  • Each of the right side camera 2 R and the backside camera 2 B is equipped with an image pick-up device, such as a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), etc.
  • CCD Charge Coupled Device
  • CMOS Complementary Metal Oxide Semiconductor
  • the camera 2 may be attached at positions (for example, a front surface and a left side surface) other than the right side surface and the rear surface of the upper-part turning body 63 , and may be equipped with a wide-angle lens or a fish-eye lens so that an image of a large range can be taken.
  • the camera 2 acquires an input image according to a control signal from the control part 1 , and outputs the acquired input image to the control part 1 .
  • the camera 2 acquires the input image using a fish-eye lens or a wide-angle lens
  • the camera 2 output a corrected input image to the control part 1 in which an apparent distortion or tilting, which is caused by usage of those lenses, is corrected.
  • the camera 2 may output the acquired input image as it is without correction. In such a case, the control part corrects an apparent distortion and tilting.
  • the input part 3 is a device for an operator to enable an input of various kinds of information to the image generation device 100 , and includes, for example, a touch panel, a button switch, a pointing device, a keyboard, etc.
  • the storage part 4 is a device for storing various kinds of information, and includes, for example, a hard disk, an optical disk, a semiconductor memory, etc.
  • the display part 5 is a device for displaying image information, and includes, for example, a liquid crystal display or a projector, which is installed in the cab 64 (refer to FIG. 2 ) of the construction machine.
  • the display part 5 displays various images which the control part 1 outputs.
  • the image generation device 100 may generate a processing-target image based on an input image, and may display an output image after generating the output image by applying an image conversion process to the processing-target image so that the output image enables intuitive perception of a positional relationship with a peripheral obstacle and a distance sense, and may present the output image to the operator.
  • the “processing-target image” is generated based on an input image and to be subjected to an image conversion process (for example, a scale conversion, an affine conversion, a distortion conversion, a viewpoint conversion processing).
  • an input image which is an input image taken by a camera that takes an image of a ground surface from above and contains an image (for example, an empty part) in a horizontal direction according to a wide view angle, is used in an image conversion process.
  • the input image is projected onto a predetermined space model so that a horizontal image thereof is not displayed unnaturally (for example, is not handled as an empty part on a ground surface).
  • an image suitable for the image conversion process can be obtained by re-projecting a projection image projected on the space model onto a different two-dimensional plane.
  • the processing-target image may be used as an output image as it is without applying an image conversion process.
  • the “space model” is a target object on which an input image is projected, and includes at least a plane surface or a curved surface (for example, a plane surface parallel to the processing-target image plane or a plane surface or curved surface that forms an angle with the processing-target image plane) other than a processing-target image plane, which is a plane surface on which the processing-target image is positioned.
  • the image generation device 100 may generates an output image by applying an image conversion process to a projection image projected onto the space model without generating a processing-target image.
  • the projection image may be used as an output image as it is without being subjected to an image conversion process.
  • FIGS. 3A and 3B are views illustrating an example of a space model MD on which an input image is projected.
  • FIG. 3A illustrates a relationship between the excavator 60 and the space model MD when viewing the excavator 60 from a side
  • FIG. 3B illustrates a relationship between the excavator 60 and the space model MD when viewing the excavator 60 from above.
  • the space model MD has a half-cylindrical form.
  • An inner part of a bottom surface of the half-cylindrical form includes a plane surface area R 1
  • an inner part of a side surface includes a curved surface area R 2 .
  • FIG. 4 is a view illustrating an example of a relationship between the space model MD and the processing-target image plane.
  • the processing-target image plane R 3 is a plane containing the plane surface area R 1 of the space model MD.
  • the space model MD is illustrated as a cylindrical form, which is different from the half-cylindrical form as illustrated in FIG. 3 , for the purpose of clarification in FIG. 4 , the space model MD may be either of the half-cylindrical form and the cylindrical form.
  • the processing-target image plane R 3 may be a circular area, which contains the plane surface area R 1 of the space model MD, or may be an annular area, which does not contain the plane surface area R 1 of the space model MD.
  • the coordinates correspondence part 10 is provided for causing the coordinates on the input image plane on which the input image taken by the camera 2 is positioned (may be referred to as input coordinates), the coordinates on the space model MD (may be referred to as spatial coordinates, and the coordinates on the processing-target image plane R 3 (may be referred to as projection coordinates) to correspond to each other.
  • the coordinates on the output image plane, the coordinates on the space model MD and the coordinates on the processing-target image plane R 3 are caused to correspond to each other based on various parameters with respect to the camera 2 , such as an optical center, a focal distance, a CCD size, an optical axis direction vector, a camera horizontal direction vector, a projection system, etc., of the camera 2 , which are input through the input part 3 and a previously determined positional relationship between the input image plane, the space model MD and the processing-target image plane R 3 .
  • the correspondence relationship is stored in the input image-space model correspondence relation map 40 and the space model-processing-target image correspondence relation map 41 of the storage part 4 .
  • the coordinates correspondence part 10 omits causing correspondence between the coordinates on the space model MD and the coordinates on the processing-target image plane R 3 and storage of the correspondence relationship in the space model-processing-target image correspondence relation map 41 .
  • the output image generation part 11 generates an output image.
  • the output image generation part 11 causes the coordinates on the processing-target image plane R 3 and the coordinates on the output image plane on which the output image is positioned to correspond to each other by applying, for example, a scale conversion, an affine conversion, or a distortion conversion to the processing-target image.
  • the correspondence relationship is stored in the processing-target image-output image correspondence relation map 42 of the storage part 4 .
  • the output image generation part 11 generates an output image by relating a value of each pixel in the output mage (for example, a brightness value, a color phase value, a chroma value, etc.) to a value of each pixel in the input image while referring to the input image-space model correspondence relation map 40 and the space model-processing-target image correspondence relation map 41 stored in the coordinates correspondence part 10 .
  • a value of each pixel in the output mage for example, a brightness value, a color phase value, a chroma value, etc.
  • the output image generation part 11 causes the coordinates on the processing-target image plane R 3 and the coordinates on the output image plane on which the output image is positioned to correspond to each other based on various parameters, such as an optical center, a focal distance, a CCD size, an optical direction axis vector, a camera horizontal direction vector, a projection system, etc., of a virtual camera that are input through the input part 3 .
  • the correspondence relationship is stored in the processing-target image-output image correspondence relation map 42 of the storage part 4 .
  • the output image generation part 11 generates an output image by relating a value of each pixel in the output image (for example, a brightness value, a color phase value, a chroma value, etc.) to a value of each pixel in the input image while referring to the input image-space model correspondence relation map 40 and the space model-processing-target image correspondence relation map 41 stored in the coordinates correspondence part 10 .
  • a value of each pixel in the output image for example, a brightness value, a color phase value, a chroma value, etc.
  • the output image generation part 11 may generate the output image by changing a scale of the processing-target image without using a concept of virtual camera.
  • the output image generation part 11 when the output image generation part 11 does not generate the processing-target image, the output image generation part 11 causes the coordinates on the space model MD and the coordinates on the output image plane to correspond to each other in accordance with the image conversion process applied. Then, the output image generation part 11 generates the output image by relating a value of each pixel in the output image (for example, a brightness value, a color phase value, a chroma value, etc.) to a value of each pixel in the input image while referring to the input image-space model correspondence relation map 40 . In this case, the output image generation part 11 omits the causing correspondence between the coordinates on the processing-target image plane R 3 and the coordinates on the output image plane and storage of the correspondence relationship in the processing-target image-output image correspondence relation map 42 .
  • a value of each pixel in the output image for example, a brightness value, a color phase value, a chroma value, etc.
  • the coordinates correspondence part 10 can cause the input coordinates on the input image plane correspond to the spatial coordinates on the space model by using the Hamilton's quaternion.
  • FIG. 5 is a view for explaining a correspondence between the coordinates on the input image plane and the coordinates on the space model.
  • the input image plane of the camera 2 is expressed as a single plane having an optical center C of the camera 2 as an original point in a UVW rectangular coordinates system, and the space model is expressed as cubic planes in an XYZ rectangular coordinates system.
  • the XYZ coordinates system is rotated to cause the X-axis to be coincident with the U-axis, the Y-Axis to be coincident with the V-axis and the Z-axis to be coincident with ⁇ W-axis after parallel-moving the original point of the XYZ coordinates system to the optical center C (original point of the UVW coordinates system).
  • the sign “ ⁇ ” means that a direction is opposite. This is caused by ahead of a camera is set to a +W direction in the UVW coordinates system, and a vertical downward direction is set to a ⁇ Z direction in the XYZ coordinates system.
  • each of the cameras 2 has an individual UVW coordinates system.
  • the coordinates correspondence part 10 translates and rotates the XYZ coordinates system with respect to each of the plurality of UVW coordinates system.
  • the above-mentioned conversion is realized by translating the XYZ coordinates system so that the optical center C of the camera 2 becomes the original point of the XYZ coordinates system, and, thereafter, rotating the XYZ coordinates system so that the X-axis is coincident with the ⁇ W-axis and further rotating the XYZ coordinates system so that the X-axis is coincident with the U-axis. Therefore, the coordinates correspondence part 10 integrates the two rotations into a single rotation operation by describing the conversion by the Hamilton's quaternion.
  • a rotation to cause a certain vector A to be in coincident with a different vector B corresponds to a process of rotating by an angle formed between the vector A and the vector B using a normal line of a plane defined by the vector A and the vector B.
  • the rotating angle is set to ⁇
  • the angle ⁇ is expressed by an inner product of the vector A and the vector B as follows.
  • the unit vector N of the normal line of the plane defined by the vector A and the vector B is expressed by an outer product of the vector A and the vector B as follows.
  • N A ⁇ B ⁇ A ⁇ ⁇ ⁇ B ⁇ ⁇ sin ⁇ ⁇ ⁇ [ Formula ⁇ ⁇ 2 ]
  • the quaternion is a hypercomplex number satisfying the following condition.
  • the quaternion Q is expressed as follows, where a real component is t and pure imaginary components are a, b and c.
  • the quaternion Q can express a three-dimensional vector (a, b, c) by the pure imaginary components a, b and c while setting the real component t to 0 (zero).
  • a rotating operation with an arbitrary vector as an axis can be expressed by each component t, a, b and c.
  • the quaternion Q can express the consecutive plurality of numbers of rotating operation as a single rotation by integrating the rotating operations.
  • a point D (ex, ey, ez), which is an arbitrary point S (sx, sy, sz) rotated by an angle ⁇ with an arbitrary unit vector C (l, m, n) as an axis, can be expressed as follows.
  • the point X on the X-axis in the XYZ coordinates system is moved to a point X′. Therefore, the point X′ is expressed as follows.
  • the quaternion R expressing a rotation to cause the Z-axis to be coincident with the ⁇ W-axis and further cause the X-axis to be coincident with the U-axis is expressed as follows.
  • the coordinates P′ when arbitrary coordinates P on the space model (XYZ coordinates system) is expressed by the coordinates on the input image plane (UVW coordinates system), is expressed as follows.
  • the coordinates correspondence part 10 can convert the coordinates on the space model (XYZ coordinates system) into the coordinates on the input image plane (UVW coordinates system) by merely performing the operation.
  • the coordinates correspondence part 10 After converting the coordinates on the space model (XYZ coordinates system) into the coordinates on the input image plane (UVW coordinates system), the coordinates correspondence part 10 computes an incident angle ⁇ faulted by a line segment CP′ connecting the optical center C (coordinates on the UVW coordinates system) of the camera 2 and coordinates P′, which is arbitrary coordinates P on the space model expressed by the UVW coordinates system, and the optical axis G of the camera 2 .
  • the coordinates correspondence part 10 computes an argument ⁇ and a length of a line segment EP′, the argument ⁇ being formed by the line segment EP′, which connects the coordinates P′ and an intersecting point E of a plane H and an optical axis G in the plane H, which is parallel to the input image plane R 4 (for example, a CCD surface) and containing the coordinates P′, and a U′-axis in the plane H.
  • an image height h is a function of an incident angle ⁇ and a focal distance f.
  • the coordinates correspondence part 10 decomposes the image height h to a U-component and a V-component component on the UV coordinates system according to an argument ⁇ , and divide them by a numerical value corresponding to a pixel size per one pixel of the input image plane R 4 . Thereby, the coordinates correspondence part 10 can cause the coordinates P (P′) on the space model MD and the coordinates on the input image plane R 4 .
  • the coordinates (u, v) on the input image plane R 4 corresponding to the coordinates P (P′) on the space model MD is expressed as follows.
  • the coordinates correspondence part 10 causes the coordinates on the space model MD to correspond to the coordinates on one or more input image planes R 4 existing for each camera, and relates the coordinates on the space model MD, a camera identifier, and the coordinates on the input image plane R 4 , and stores the correspondence relationship in the input image-space model correspondence relation map 40 .
  • the coordinates correspondence part 10 operates the conversion of coordinates by using the quaternion, the coordinates correspondence part 10 provides an advantage in that a gimbal lock is not generated unlike a case where a conversion of coordinates is operated using an Euler angle.
  • the coordinate correspondence part 10 is not limited to one performing an operation of conversion of coordinates using a quaternion, and the conversion of coordinates may be operated using an Euler angle.
  • the coordinates correspondence part 10 may cause the coordinates P (P′) to correspond to the coordinates on the input image plane R 4 with respect to a camera of which incident angle is smallest, or may cause the coordinates P (P′) to correspond to the coordinates on the input image plane R 4 selected by an operator.
  • FIGS. 6A and 6B are views for explaining correspondence between coordinates according to the coordinates correspondence part 10 .
  • the coordinates correspondence part 10 causes both coordinates to correspond to each other by causing each of line segments, which connect coordinates on the input image plane R 4 of the camera 2 and the coordinates on the space model MD corresponding to the coordinates on the input image plane R 4 , passes the optical center C of the camera 2 .
  • the coordinates correspondence part 10 causes the coordinates K 1 on the input image plane R 4 of the camera 2 to correspond to the coordinates L 1 on the plane surface area R 1 of the space model MD, and causes the coordinates K 2 on the input image plane R 4 of the camera 2 to correspond to the coordinates L 2 on the curved surface area R 2 of the space model MD.
  • both the line segment K 1 -L 1 and the line segment K 2 -L 2 pass the optical center C of the camera 2 .
  • the coordinates correspondence part 10 causes the coordinates K 1 and K 2 on the input image plane R 4 to correspond to the coordinates L 1 and L 2 on the space model MD according to the respective projection system.
  • projection systems for example, an orthogonal projection, a stereographic projection, an equisolid angle projection, an equidistant projection, etc.
  • the line segment K 1 -L 1 and the line segment K 2 -L 2 do not pass the optical center C of the camera 2 .
  • FIG. 6B is a view illustrating a correspondence relationship between the coordinates on the curved surface area R 2 of the space model MD and the coordinates on the processing-target image plane R 3 .
  • the coordinates correspondence part 10 introduces a group of parallel lines PL, which are a group of parallel lines PL positioned on the XZ-plane and form an angle ⁇ between the processing-target image plane R 3 , and causes both coordinates to correspond to each other so that both the coordinates on the curved surface area R 2 of the space model MD and the coordinates on the processing-target image plane R 3 corresponding to the coordinates on the curved surface area R 2 are positioned on one of the parallel lines.
  • the coordinates correspondence part 10 causes both coordinates to correspond to each other so that the coordinates L 2 on the curved surface area R 2 of the space model MD and the coordinates M 2 on the processing-target image plane R 3 are positioned on a common parallel line.
  • the coordinates correspondence part 10 can cause the coordinates on the plane surface area R 1 of the space model MD to correspond to the coordinates on the processing-target image plane R 3 using a group of parallel lines PL, similar to the coordinates on the curved surface area R 2 .
  • the coordinates L 1 on the plane surface area R 1 on the space model MD and the coordinates M 1 on the processing-target image plane R 3 have the same coordinates value.
  • the coordinates correspondence part 10 causes the spatial coordinates on the space model MD to correspond to the projection coordinates on the processing-target image plane R 3 , and stores the coordinates on the space model MD and the coordinates on the processing-target image R 3 in the space model-processing-target image correspondence relation map 41 by relating them to each other.
  • the coordinates correspondence part 10 causes both coordinates to correspond to each other so that each of line segments connecting the coordinates on the output image plane R 5 of the virtual camera 2 V and the coordinates on the processing-target image plane R 3 corresponding to the coordinates on the output image plane R 5 passes the optical center CV of the virtual camera 2 V.
  • the output image generation part 11 causes the coordinates N 1 on the output image plane R 5 of the virtual camera 2 V to correspond to the coordinates M 1 on the processing-target image plane R 3 (the plane surface area R 1 of the space model MD), and causes the coordinates N 2 on the output image plane R 5 of the virtual camera 2 V to correspond to the coordinates M 2 on the processing-target image plane R 3 .
  • both the line segment M 1 -N 1 and the line segment M 2 -N 2 pass the optical center CV of the virtual camera 2 .
  • the output image generation part 11 causes the coordinates N 1 and N 2 on the output image plane R 5 of the virtual camera 2 V to correspond to the coordinates M 1 and M 2 on the processing-target image plane R 3 according to the respective projection system.
  • projection systems for example, an orthogonal projection, a stereographic projection, an equisolid angle projection, an equidistant projection, etc.
  • the line segment M 1 -N 1 and the line segment M 2 -N 2 do not pass the optical center CV of the virtual camera 2 V.
  • the output image generation part 11 causes the coordinates on the output image plane R 5 to correspond to the coordinates on the processing-target image plane R 3 , and stores the coordinates on the output image plane R 5 and the coordinates on the processing-target image R 3 in the processing-target image-output image correspondence relation map 42 by relating them to each other. Then, the output image generation part 11 generates the output image be relating a value of each pixel in the output image to a value of each pixel in the input image while referring to the input image-space model correspondence relation map 40 and the space model-processing-target image correspondence relation map 41 stored in the coordinates correspondence part 10 .
  • FIG. 6D is a view of combination of FIG. 6A through FIG. 6C , and illustrates a mutual positional relationship between the camera 2 , the virtual camera 2 V, the plane surface area R 1 and the curved surface area R 2 of the space model MD, and the processing-target image plane R 3 .
  • FIG. 7A is a view of a case where an angle ⁇ is formed between the group of parallel lines PL positioned on the XZ-plane and the processing-target image plane R 3 .
  • FIG. 7B is a view of a case where an angle ⁇ 1 (( ⁇ 1 > ⁇ ) is formed between the group of parallel lines PL positioned on the XZ-plane and the processing-target image plane R 3 .
  • the coordinates La through Ld on the curved surface area R 2 of the space model MD in FIGS. 7A and 7B correspond to the coordinates Ma through Md on the processing-target image plane R 3 , respectively.
  • the intervals of the coordinates La through Ld in FIG. 7A are equal to the intervals of the coordinates La through Ld in FIG.
  • the intervals of the coordinates Ma through Md on the processing-target image plane R 3 decease linearly as the angle between the group of parallel lines PL and processing-target image plane R 3 increases. That is, the intervals of the coordinates Ma through Md decrease uniformly irrespective of the distance between the curved surface area R 2 of the space model MD and each of the coordinates Ma through Md.
  • the intervals of the group of coordinates on the plane surface area R 1 of the space model MD do not change.
  • the change in the intervals of the group of coordinates means that only an image portion corresponding to the image projected on the curved surface area R 2 of the space model MD from among the image portions on the output image plane R 5 (refer to FIG. 6C ) is enlarged or reduced linearly.
  • FIG. 8A is a view of a case where all of a group of auxiliary lines AL positioned on the XZ-plane extend from a start point T 1 on the Z-axis toward the processing-target image plane R 3 .
  • FIG. 8B is a view of a case where all of the group of auxiliary lines AL positioned on the XZ-plane extend from a start point T 2 on the Z-axis toward the processing-target image plane R 3 .
  • the coordinates La through Ld on the curved surface area R 2 of the space model MD in FIGS. 8A and 8B correspond to the coordinates Ma through Md on the processing-target image plane R 3 , respectively.
  • FIG. 8A is a view of a case where all of a group of auxiliary lines AL positioned on the XZ-plane extend from a start point T 1 on the Z-axis toward the processing-target image plane R 3 .
  • FIG. 8B is a view of a case where all of the group of auxiliary lines AL
  • the coordinates Mc and Md are not illustrated in the figure because they are out of the range of the processing-target image plane R 3 .
  • the intervals of the coordinates La through Ld in FIG. 8A are equal to the intervals of the coordinates La through Ld in FIG. 8B , respectively.
  • the group of auxiliary lines AL are supposed to be on the XZ-plane for the purpose of simplification of description, actually, the auxiliary lines radially extend from an arbitrary point on the Z-axis toward the processing-target image plane R 3 . Similar to the example illustrated in FIGS. 7A and 7B , the Z-axis in this case is referred to as “re-projection axis”.
  • the intervals of the coordinates Ma through Md on the processing-target image plane R 3 decease nonlinearly as the distance (height) between the start point of the group of auxiliary lines AL and the original point O increases. That is, a degree of decrease of each of the intervals increases as the distance between the curved surface area R 2 of the space model MD and each of the coordinated Ma through Md increases.
  • the intervals of the group of coordinates on the plane surface area R 1 of the space model MD do not change.
  • the change in the intervals of the group of coordinates means that only an image portion corresponding to the image projected on the curved surface area R 2 of the space model MD from among the image portions on the output image plane R 5 (refer to FIG. 6C ) is enlarged or reduced nonlinearly.
  • the image generation device 100 can linearly or nonlinearly enlarge or reduce an image portion (for example, a horizontal image) of the output image corresponding to the image projected on the curved surface area R 2 of the space model MD without giving an influence to an image portion (for example, a road image) of the output image corresponding to the image projected on the plane surface area R 1 of the space model MD.
  • an image portion for example, a horizontal image
  • an image portion for example, a road image
  • an object positioned around the excavator 60 (an object in an image a circumference viewed from the excavator 60 in a horizontal direction) can be rapidly and flexibly enlarged or reduced without giving an influence to a road image (a virtual image when viewing the shovel from directly above) in the vicinity of the excavator 60 , which can improve visibility of a dead angle area of the excavator 60 .
  • FIG. 9A is a view of a case where an angle ⁇ is formed between the group of parallel lines PL positioned on the XZ-plane and the processing-target image plane R 3 .
  • the coordinates M 1 on the processing-target image plane R 3 containing the plane surface area R 1 correspond to the coordinates N 1 on the output image plane R 5
  • the coordinates L 2 on the curved surface area R 2 correspond to the coordinates M 2 on the processing-target image plane R 3 and the coordinates N 2 on the output image plane R 5
  • a distance D 1 (D 3 ) indicates a distance on the X-axis between the central point (an intersection with the optical axis G of the virtual camera 2 V) of the output image plane R 5 and the coordinates N 1
  • a distance D 2 (D 4 ) indicates a distance on the X-axis between the central point of the output image plane R 5 and the coordinates N 2 .
  • the distance D 2 (refer to FIG. 9A ), when the angle between the group of parallel lines PL and the processing-target image plane R 3 is ⁇ , increases as the angle decreases, and it becomes the distance D 4 when the angle is ⁇ 2 .
  • the distance D 1 when the angle is ⁇ , is constant irrespective of changes in the angle, and is equal to the distance D 3 when the angle is ⁇ 2 (refer to FIG. 9B ).
  • That the distance D 2 changes to the distance D 4 and the distance D 1 is constant means that only an image portion corresponding to an image projected on the curved surface area R 2 of the space model MD from among the image portions on the output image plane R 5 is enlarged or reduced, similar to the action explained with reference to FIGS. 7A and 7B and FIGS. 8A and 8B .
  • FIG. 10 is a view of a case where an angle ⁇ is formed between the group of parallel lines PL positioned on the XZ-plane and the processing-target image plane R 3 .
  • the output image generation part 11 causes the coordinate point M 1 on the processing-target image plane R 3 (the plane surface area R 1 ) to correspond to the coordinate point N 1 on the output image plane R 5 so that the line segment M 1 -N 1 passes the optical center CV, and causes the coordinate point M 2 on the processing-target image plane R 3 corresponding to the coordinate point L 2 on the curved surface area R 2 to correspond to the coordinate point N 2 on the output image plane R 5 so that the line segment M 2 -N 2 passes the optical center CV.
  • FIG. 11 is a flowchart of the processing-target generation process (step S 1 through step S 3 ) and the output image generation process (step S 4 through step S 6 ). It is assumed that the arrangement of the camera 2 (the input image plane R 4 ), the space model (the plane surface area R 1 and the curved surface area R 2 ) and the processing-target image plane R 3 is previously determined.
  • control part 1 causes a coordinate point on the processing-target image plane R 3 to correspond to a coordinate point on the space model MD by the coordinates correspondence part 10 (step S 1 ).
  • the coordinates correspondence part 10 acquires an angle formed between the group of parallel lines PL and the processing-target image plane R 3 , and computes a point at which one of the group of parallel lines PL extending from the coordinate point on the processing-target image plane R 3 intersects with the curved surface area R 2 of the space model MD. Then, the coordinates correspondence part 10 derives a coordinate point on the curved surface area R 2 corresponding to the computed point as a coordinate point on the curved surface area R 2 corresponding to a coordinate point on the processing-target image plane R 3 , and stores a correspondence relationship therebetween in the space model-processing-target image correspondence relation map 41 .
  • the angle formed between the group of parallel lines PL and the processing-target image plane R 3 may be a value previously stored in the storage part 4 , etc., or may be a value dynamically input by the operator through the input part 3 .
  • the coordinates correspondence part 10 derives the coordinates on the plane surface area R 1 concerned as the coordinates corresponding to the coordinates on the processing-target image plane R 3 , and stores a correspondence relationship therebetween in the space model-processing-target image correspondence relation map 41 .
  • control part 1 causes the coordinates on the space model MD derived by the above mentioned process to correspond to the coordinates on the input image plane R 4 by the coordinates correspondence part 10 (step S 2 ).
  • control part 1 determines whether or not all of the coordinate points on the processing-target image plane R 3 are caused to correspond to coordinate points on the space model MD and the coordinate points on the input image plane R 4 (step S 3 ). If it is determined that all of the coordinate points have not been caused to correspond (NO of step S 3 ), the process of step S 1 and step S 2 is repeated.
  • control part 1 causes the processing-target image generation process to end and, thereafter, causes the output image generation process to start.
  • the output mage generation part 11 causes the coordinates on the processing-target image plane R 3 to the coordinates on the output image plane R 5 (step S 4 ).
  • the output image generation part 11 generates an output image by applying a scale conversion, an affine conversion or a distortion conversion to a processing-target image. Then, the output image generation part 11 stores a correspondence relationship between the coordinates on the processing-target image plane R 3 and the coordinates on the output image plane R 5 in the processing-target image-output image correspondence relation map 42 , the correspondence relationship being determined according to the applied scale conversion, affine conversion, or distortion conversion.
  • the output image generation part 11 may compute the coordinates on the output image plane R 5 from the coordinates on the processing-target image plane R 3 , and may store a correspondence relationship therebetween in the processing-target image-output image correspondence relation map 42 .
  • the output image generation part 11 may compute, after acquiring the coordinate point of the optical center CV of the virtual camera 2 V, a point at which a line segment extending from a coordinate point on the output image plane R 5 , which line segment passes the optical center CV, intersects with the processing-target image plane R 3 . Then, the output image generation part 11 may derive the coordinated on the processing-target image plane R 3 corresponding to the computed point as a coordinate point on the processing-target image plane R 3 corresponding to the coordinate point on the output image plane R 5 , and may store a correspondence relationship therebetween in the processing-target image-output image correspondence relation map 42 .
  • control part 1 follows, by the output-image generation part 11 , the correspondence relationship between the coordinates on the input image plane R 4 and the coordinates on the space model MD, the relationship between the coordinates on the space model MD and the coordinates on the processing-target image plane R 3 and the correspondence relationship between the processing-target image plane R 3 and the coordinates on the output mage plane R 5 , while referring to the input image-space model correspondence relation map 40 , the space model-processing-target image correspondence relation map 41 and the processing-target image-output image correspondence relation map 42 , and acquires values (for example, a brightness value, a color phase value, a chroma value, etc.) possessed by coordinates on the input image plane R 4 corresponding to the coordinates on the output image plane R 5 .
  • values for example, a brightness value, a color phase value, a chroma value, etc.
  • the output image generation part 11 may derive statistical values (for example, a mean value, a maximum value, a minimum value, an intermediate value, etc.) based on each of the values of the plurality of coordinates on the plurality of input image planes R 4 , and may use the statistical values as the values of the coordinates on the output image plane R 5 .
  • statistical values for example, a mean value, a maximum value, a minimum value, an intermediate value, etc.
  • control part 1 determines whether or not all of the values of the coordinates on the output image plane R 5 are caused to correspond to the values of the coordinates on the input mage plane R 4 (step S 6 ). If it is determined that all of the values of the coordinates have not been caused to correspond (NO of step S 4 ), the process of step S 5 is repeated.
  • control part 1 determines that all of the values of the coordinates have been caused to correspond (YES of step S 6 ). If it is determined that all of the values of the coordinates have been caused to correspond (YES of step S 6 ), the control part 1 generates an output image, and ends the series of processes.
  • step S 4 of the output image generation process is read as “coordinates on the space model”.
  • the image generation device 100 is able to generate the processing-target image and the output image that can cause the operator to intuitively grasp the positional relationship between the construction machine and a peripheral obstacle.
  • the image generation device 100 is capable of surely causing each coordinate point on the processing-target plane R 3 to correspond to one or more coordinate points on the input image plane R 4 by performing the correspondence operation to track back from the processing-target image plane R 3 to the input image plane R 4 through the space model MD. Therefore, a better quality processing-target image can be generated as compared to a case where a coordinate correspondence operation is performed in an order from the input image plane R 4 to the processing-target image plane R 3 through the space model MD.
  • each of the coordinate points on the input image plane R 4 can be caused to correspond to one or more coordinate points on the processing-target image plane R 3 , however, there may be a case where a part of the coordinate points on the processing-target image plane R 3 cannot be caused to correspond to any one of the coordinate points on the input mage plane R 4 . In such a case, it is necessary to apply an interpolation process to the part of the coordinate points on the processing-target image plane R 3 .
  • the image generation device 100 can realize a desired enlargement or reduction by merely rewriting only a part associated with the curved surface area R 2 in the space model-processing-target image correspondence relation map 41 by changing the angle formed between the group of parallel lines PL and the processing-target image plane R 3 without rewriting the contents of the input image-space model correspondence relation map 40 .
  • the image generation device 100 when changing an appearance of the output image, is capable of generating a desire output image (a scale conversion image, an affine conversion image or a distortion conversion image) by merely rewriting the processing-target image-output image correspondence relation map 42 by changing various parameters regarding a scale conversion, an affine conversion or a distortion conversion without rewriting the contents of the input image-space model correspondence relation map 40 and the contents of the space model-processing-target image correspondence relation map 41 .
  • a desire output image a scale conversion image, an affine conversion image or a distortion conversion image
  • the image generation device 100 when changing a view point of the output image, is capable of generating an output image (view point conversion image) which is viewed from a desired view point by merely rewriting the processing-target image-output mage correspondence relation map 42 by changing values of various parameters of the virtual camera 2 V without rewriting the contents of the input image-space model correspondence relation map 40 and the space model-processing-target image correspondence relation map 41 .
  • FIG. 12A is a view illustrating a positional relationship between the camera 2 and the space model MD when viewing the excavator 60 from above.
  • FIG. 12B is a view, similar to FIG. 4 , illustrating a positional relationship between the camera 2 and the space model MD when viewing the space model MD obliquely from above.
  • FIG. 12C is a view illustrating a processing-target image which the image generation device 100 generates.
  • the cylinder center axis of the cylindrical space model MD is coincident with the re-projection axis and the tuning axis PV (z-axis) of the excavator 60 , and a rod-shaped object OBJ, which extends parallel to the Z-axis, exists on the Y-axis.
  • the optical axis G 1 of the backside camera 2 B and the optical axis G 2 of the right side camera 2 R intersect with the plane surface area R 1 of the space model and the plane (XY-plane) on which the processing-target image plane R 3 is positioned, respectively.
  • the optical axis G 1 and the optical axis G 2 intersect with each other at a point J 1 on the cylinder center axis (re-projection axis).
  • optical axis G 1 and the optical axis G 2 may be in a twisted positional relationship if the components, when it is projected on a plane parallel to the XY plane, intersect with each other at a point on the cylinder center axis (re-projection axis).
  • a perpendicular line drawn from the optical center of the backside camera 2 B to the cylinder center axis (re-projection axis) is in a perpendicular relationship with a perpendicular line drawn from the optical axis of the right side camera 2 R to the cylinder center axis (re-projection axis).
  • the two perpendicular lines intersect with each other at a point J 2 while existing in the plane parallel to the plane surface area R 1 and the plane on which the processing-target image plane R 3 is positioned in the present embodiment, the two perpendicular lines may be positioned on separate planes, respectively, and may be in a twisted positional relationship.
  • the image generation device 100 is capable of generating the processing-target image as illustrated in FIG. 12C . That is, in FIG. 12C , the rod-shaped object OBJ extending parallel to the Z-axis on the Y-axis extends in a direction (a direction of a line passing the optical center of the right side camera 2 R and a point on the object OBJ) parallel to the Y-axis in a road image portion corresponding to an image projected on the plane surface area R 1 . Moreover, in FIG.
  • the rod-shaped object OBJ extends in a direction (a direction of a line passing a point on the re-projection axis (a start point of the group of parallel lines PL or the group of auxiliary lines AL) and a point on the object OBJ) parallel to the Y-axis in a horizontal image portion corresponding to an image projected on the curved surface area R 2 .
  • the object OBJ does not bend at a boundary between the road image portion and the horizontal image portion, but extends like a straight line.
  • FIGS. 13A through 13C are views similar to FIGS. 12 A through 12 C, respectively.
  • the cylinder center axis of the cylindrical space model MD is coincident with the re-projection axis and the turning axis PV (Z-axis) of the excavator 60
  • the rod-shaped object OBJ extending parallel to the Z-axis direction exists on the Y-axis.
  • a rod-shaped object OBJ 1 extending parallel to the Z-axis direction from the XY-plane exists also in a direction of the optical axis G 2 of the right side camera 2 R.
  • the optical axis G 1 of the backside camera 2 B and the optical axis G 2 of the right side camera 2 R intersect with the plane surface area R 1 of the space model MD and the plane (XY-plane) on which the processing-target image plane R 3 is positioned, respectively.
  • the optical axis G 1 and the optical axis G 2 intersect with each other at a point J 1 on the cylinder center axis (re-projection axis).
  • optical axis G 1 and the optical axis G 2 may be in a twisted positional relationship if the components, when it is projected on a plane parallel to the XY-plane, intersect with each other at a point on the cylinder center axis (re-projection axis).
  • a perpendicular line drawn from the optical center of the backside camera 2 B to the cylinder center axis (re-projection axis) is not in a perpendicular relationship with a perpendicular line drawn from the optical axis of the right side camera 2 R to the cylinder center axis (re-projection axis).
  • the perpendicular line drawn from the optical center of the backside camera 2 B to the cylinder center axis (re-projection axis) intersect with the perpendicular line drawn from the optical axis of the right side camera 2 R to the perpendicular line thereof at a point J 2 which is not on the cylinder center axis (re-projection axis).
  • the optical centers of the backside camera 2 B and the right side camera 2 R exist on a plane parallel to the plane surface area R 1 and the plane on which the processing-target image plane R 3 is positioned.
  • the optical centers of the backside camera 2 B and the right side camera 2 R may be positioned on different planes, respectively, and the perpendicular lines of each other may be in a twisted positional relationship.
  • the image generation device 100 is capable of generating the processing-target image as illustrated in FIG. 13C .
  • the rod-shaped object OBJ extending parallel to the Z-axis on the Y-axis extends in a direction (a direction of a line passing the optical center of the right side camera 2 R and a point on the object OBJ) slightly separate from the Y-axis in a road image portion corresponding to an image projected on the plane surface area R 1 .
  • the rod-shaped object OBJ extends in a direction (a direction of a line passing a point on the re-projection axis (a start point of the group of parallel lines PL or the group of auxiliary lines AL) and a point on the object OBJ) parallel to the Y-axis in a horizontal image portion corresponding to an image projected on the curved surface area R 2 .
  • the object OBJ is slightly bent at a boundary between the road image portion and the horizontal image portion.
  • the rod-shaped object OBJ 1 extending parallel to the Z-axis and existing in the direction of the optical axis G 2 of the right side camera 2 R extends in a direction (a direction of a line passing the optical center of the right side camera 2 R and a point on the object OBJ) parallel to the optical axis G 2 a road image portion corresponding to an image projected on the plane surface area R 1 .
  • the rod-shaped object OBJ 1 extends in a direction (a direction of a line passing a point on the re-projection axis (a start point of the group of parallel lines PL or the group of auxiliary lines AL) and a point on the object OBJ 1 ) parallel to the optical axis G 2 in a horizontal image portion corresponding to an image projected on the curved surface area R 2 .
  • the object OBJ does not bend at a boundary between the road image portion and the horizontal image portion, but extends like a straight line.
  • FIGS. 14A through 14C are views similar to FIGS. 12A through 12C , respectively.
  • the cylinder center axis of the cylindrical space model MD is coincident with the re-projection axis and the turning axis PV (Z-axis) of the excavator 60
  • the rod-shaped object OBJ extending parallel to the Z-axis direction exists on the Y-axis.
  • a rod-shaped object OBJ 1 extending parallel to the Z-axis direction from the XY-plane exists also in a direction of the optical axis G 2 of the right side camera 2 R.
  • FIG. 14B similar to the positional relationship illustrated n FIG. 12B , the optical axis G 1 of the backside camera 2 B and the optical axis G 2 of the right side camera 2 R intersect with the plane surface area R 1 of the space model MD and the plane (XY-plane) on which the processing-target image plane R 3 is positioned, respectively. Moreover, a perpendicular line drawn from the optical center of the backside camera 2 B to the cylinder center axis (the re-projection axis) is in a perpendicular relationship with a perpendicular line drawn from the optical center of the right side camera 2 R to the cylinder center axis (re-projection axis).
  • the optical centers of the backside camera 2 B and the right side camera 2 R exist on a plane parallel to the plane surface area R 1 and a plane on which the processing-target image plane R 3 is positioned.
  • the optical centers of the backside camera 2 B and the right side camera 2 may be positioned on different planes, respectively, and the perpendicular lines may be mutually in a twisted positional relationship.
  • the optical axis G 1 and the optical axis G 2 do not intersect with each other on the cylinder center axis (re-projection axis) but intersect at a point J 1 which does not exist on the cylinder center axis (re-projection axis). It should be noted that the optical axis G 1 and the optical axis G 2 may be in a twisted positional relationship if components of a projection on a plane parallel to the XY-plane intersect at points which do not exist on the cylinder center axis (re-projection axis).
  • the image generation device 100 According to the positional relationship between the camera 2 and the space model MD illustrated in FIGS. 14A and 14B , the image generation device 100 generates the processing-target image as illustrated in FIG. 14C .
  • the rod-shaped object OBJ 2 extending parallel to the Z-axis in a direction of the optical axis G 2 of the right side camera 2 R extends in a direction (a direction of a line passing the optical center of the right side camera 2 R and a point on the object OBJ 2 ) parallel to the optical axis G 2 in a road image portion corresponding to an image projected on the plane surface area R 1 .
  • the rod-shaped object OBJ 2 extends in a direction (a direction of a line passing a point on the re-projection axis (a start point of the group of parallel lines PL or the group of auxiliary lines AL) and a point on the object OBJ 2 ) parallel to the Y-axis direction in a horizontal image portion corresponding to an image projected on the curved surface area R 2 .
  • the object OBJ 2 is slightly bent at a boundary between the road image portion and the horizontal image portion.
  • the rod-shaped object OBJ extending parallel to the Z-axis direction on the Y-axis extends in a direction (a direction of a line passing the optical center of the right side camera 2 R and a point on the object OBJ) parallel to the Y-axis direction in the road image portion corresponding to the image projected on the plane surface area R 1 .
  • the rod-shaped object OBJ extends in a direction (a direction of a line passing a point on the re-projection axis (a start point of the group of parallel lines PL or the group of auxiliary lines AL) and a point on the object OBJ) parallel to the Y-axis direction in the horizontal image portion corresponding to the image projected on the curved surface area R 2 .
  • the object OBJ does not bend at a boundary between the road image portion and the horizontal image portion, and extends like a straight line.
  • the image generation device 100 is capable of generating the processing-target image by arranging the space model MD so that the cylinder center axis (re-projection axis) of the space model MD and the optical axis of the camera intersect with each other without bending an object existing in an optical axis direction of the camera at a boundary between the road image portion and the horizontal image portion. It should be noted that this advantage can be obtained in a case of a single camera or a case of three or more cameras.
  • the image generation device 100 is capable of generating the processing-target image by arranging the space model MD so that the perpendicular lines drawn from the optical centers of the backside camera 2 B and the right side camera 2 R to the cylinder center axis (re-projection axis) of the space model MD are perpendicular to each other without bending objects on a just right had side and just behind the excavator 60 at a boundary between the road image portion and the horizontal image portion. It should be noted that this advantage can be obtained in a case of three or more cameras.
  • the positional relationship between the camera (right side camera 2 R and the backside camera 2 B) and the space model MD illustrated in FIG. 12A through FIG. 14C and the action and effect thereof correspond to the case where the image generation device 100 generates the processing-target image
  • the same action and effect can be obtained even in a case where the image generation device 100 does not generate the processing-target image (a case where the processing-target image plane R 3 does not exist).
  • the processing-target image illustrated in FIGS. 12C , 13 C and 14 C are read and substituted by the output image generated using an image projected on the space model MD.
  • FIG. 15 is an example of a display when causing the display part 5 to display an output image generated using an input image of two cameras (the right side camera 2 R and the backside camera 2 B) mounted on the excavator 60 .
  • the image generation device 100 generates the processing-target image by projecting a portion of the input image on the plane surface area R 1 of the space model MD and projecting another portion of the input image on the curved surface area R 2 of the space model MD and thereafter re-projecting the input image on the processing-target image plane R 3 .
  • the image generation device 100 displays the image based on the generated processing-target image by combining an image which views a vicinity of the shovel from above, which corresponds to the image projected on the plane surface area R 1 , and an image of a view from the excavator 60 in a horizontal direction, which corresponds to the image re-projected on the curved surface area R 2 .
  • the output image is generated by applying an image conversion process (for example, a view point conversion process) to the image projected on the space model MD.
  • an image conversion process for example, a view point conversion process
  • the output image is trimmed to be in a circular shape do that the image when the excavator 60 performs a turning operation can be displayed without uncomfortable feel. That is, the output image is displayed so that the center CTR of the circle is at the cylinder center axis of the space model, and also on the turning axis PV of the excavator 60 , and the output image rotates about the center CTR thereof in response to the turning operation of the excavator 60 .
  • the cylinder center axis of the space model MD may be coincident with or not coincident with the re-projection axis.
  • the radius of the space model is, for example, 5 meters.
  • the angle formed by the group of parallel lines PL between the processing-target image plane R 3 or the height of the start point of the group of auxiliary lines AL may be set so that, when an object (for example, an operator) exists at a position distant from the turning center of the excavator 60 by a maximum reach distance (for example, 12 meters) of an excavation attachment E, the object is displayed sufficiently large (for example, 7 millimeters or more).
  • a CG image of the excavator 60 is arranged so that a front of the excavator 60 is coincident with an upper portion of the screen of the display part 5 and the turning center thereof is coincident with the center CTR. This is to facilitate recognition of a positional relationship between the excavator 60 and the object that appears in the output image.
  • a frame image containing various sets of information such as orientation, etc. may be arranged on a periphery of the output image.
  • the image generation device 100 is capable of enlarging or reducing only an image portion in the output image corresponding to the image, which is projected on the curved surface area R 2 and further re-projected on the processing-target image plane R 3 without giving an influence to the image portion in the output image corresponding to the image projected on the plane surface area R 1 .
  • FIG. 9A illustrates that the image generation device 100 is capable of enlarging or reducing only an image portion in the output image corresponding to the image, which is projected on the curved surface area R 2 and further re-projected on the processing-target image plane R 3 without giving an influence to the image portion in the output image corresponding to the image projected on the plane surface area R 1 .
  • the image portion it is possible to move the image portion to an arbitrary position (for example, in a middle) in the screen area of the display part 5 so as to view the image portion in the output image from directly above, the image portion corresponding to an image projected on the curved surface area R 2 and further re-projected on the processing-target image plane R 3 .
  • the image generation device 100 uses the cylindrical space model MD as a space model in the above-mentioned embodiments, the image generation device may use a space model having other columnar shapes such as a polygonal column, etc., or may use a space model constituted by tow planes including a bottom surface and a side surface. Alternatively, the image generation device 100 may be a space model having only a side surface.
  • the above-mentioned image generation device 100 is mounted together with cameras on a construction machine, which travels by itself and is equipped with movable members, such as a bucket, an arm, a boom, a turning mechanism, etc., and is incorporated into an operation support system which support a movement of the construction machine and operations of those movable members while presenting an image of surrounding areas to an operator.
  • the image generation device 100 may be mounted together with cameras on other construction machines (body to be operated), such as an industrial machine, a stationary crane, etc., which has a movable member but does not travel by itself, and may be incorporated into an operation support system which supports operations of the machine.

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US11112531B2 (en) * 2017-07-31 2021-09-07 Topcon Corporation Method of creating longitudinal section of three-dimensional point group data, and survey data processing device and survey system for the same

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WO2011129277A1 (ja) 2011-10-20
EP3410703A1 (en) 2018-12-05
KR101418664B1 (ko) 2014-07-15
EP2560385A1 (en) 2013-02-20
JP5090496B2 (ja) 2012-12-05
KR20130018869A (ko) 2013-02-25
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US20160189420A1 (en) 2016-06-30
EP2560385A4 (en) 2013-07-17

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