WO2008038333A1 - Data recording device, data recording method, data recording program, and computer readable recording medium - Google Patents
Data recording device, data recording method, data recording program, and computer readable recording medium Download PDFInfo
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- WO2008038333A1 WO2008038333A1 PCT/JP2006/318979 JP2006318979W WO2008038333A1 WO 2008038333 A1 WO2008038333 A1 WO 2008038333A1 JP 2006318979 W JP2006318979 W JP 2006318979W WO 2008038333 A1 WO2008038333 A1 WO 2008038333A1
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- Prior art keywords
- vehicle
- image
- image processing
- imaging target
- imaging
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 17
- 238000003384 imaging method Methods 0.000 claims abstract description 93
- 238000012545 processing Methods 0.000 claims abstract description 82
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 description 16
- 230000003287 optical effect Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000004091 panning Methods 0.000 description 5
- 239000013598 vector Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- 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
- B60R1/20—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
- B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/24—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
Definitions
- Data recording device data recording method, data recording program, and computer-readable recording medium
- the present invention relates to a data recording device for recording image data, a data recording method, a data recording program, and a computer-readable recording medium.
- a data recording device for recording image data
- a data recording method for recording image data
- a data recording program for recording program
- a computer-readable recording medium for recording image data
- the use of the present invention is not limited to the above-described data recording apparatus, data recording method, data recording program, and computer-readable recording medium.
- an in-vehicle camera installed in a vehicle can photograph a scenery or a person outside the vehicle.
- the remote control is used to shoot, and the on-board camera is used to photograph the operator or subject.
- Patent Document 1 There has been a proposal to notify that it has been made (for example, see Patent Document 1 below).
- Patent Document 1 JP 2005-199948
- a data recording apparatus includes a detection unit that detects an imaging target vehicle that is an imaging target located around the vehicle, and the detection Imaging means for imaging the imaging target vehicle detected by the means, image recognition means for recognizing a specific part in image data including the imaging target vehicle imaged by the imaging means, and the image recognition means An image processing unit that performs predetermined image processing on a specific part, and a recording unit that records image data subjected to image processing by the image processing unit.
- the data recording method according to the invention of claim 8 includes a detection step of detecting an imaging target vehicle that is an imaging target located around the vehicle, and an imaging target vehicle detected by the detection step.
- a data recording program according to claim 9 causes a computer to execute the data recording method according to claim 8.
- a computer-readable recording medium according to the invention of claim 10 records the data recording program according to claim 9.
- FIG. 1 is a block diagram showing an example of a functional configuration of a data recording apparatus that works according to the present embodiment.
- FIG. 2 is a flow chart showing the contents of processing of the data recording apparatus which is effective in the present embodiment.
- FIG. 3 is a block diagram illustrating an example of a hardware configuration of an in-vehicle device that works on the present embodiment.
- FIG. 4 is an explanatory view showing image data recognized as an image according to the present embodiment.
- FIG. 5 is an explanatory diagram showing image data that has been subjected to image processing according to the present embodiment.
- FIG. 6 is a flowchart showing the contents of the processing of the in-vehicle device that is useful in the present embodiment.
- FIG. 1 is a block diagram showing an example of a functional configuration of a data recording apparatus according to the present embodiment.
- a data recording apparatus 100 includes a detection unit 101, an imaging unit 102, and an image recognition unit.
- the detection unit 101 detects an imaging target vehicle that is an imaging target located around the vehicle.
- the vehicle to be imaged is detected by, for example, a sensor such as an infrared sensor or an ultrasonic sensor (not shown) or vehicle-to-vehicle communication.
- a sensor such as an infrared sensor or an ultrasonic sensor (not shown) or vehicle-to-vehicle communication.
- the detection unit 101 may detect a positional relationship between the vehicle and the imaging target vehicle, or may detect a relative speed of the imaging target vehicle with respect to the vehicle.
- the imaging unit 102 images the imaging target vehicle detected by the detection unit 101.
- the elephant vehicle may be imaged by, for example, an in-vehicle camera (not shown), and may be a movable in-vehicle camera that can image an arbitrary direction.
- the imaging unit 102 may capture an imaging target vehicle when the positional relationship detected by the detection unit 101 reaches a predetermined distance. Further, a configuration having a drive unit that drives the imaging target vehicle to image in accordance with the relative speed detected by the detection unit 101 may be used. In other words, the imaging unit 102 may perform panning by driving the drive unit according to the relative speed of the imaging target vehicle.
- the imaging unit 102 causes the drive unit to follow in accordance with the relative speed of the imaging target vehicle, and the rotation angle of the drive unit is such that the vehicle front force is a predetermined angle (for example, 45 degrees). It is also possible to take a picture in the case! /.
- the imaging unit 102 causes the driving unit to follow in accordance with the relative speed of the imaging target vehicle, captures images at a predetermined interval (for example, 30 times per second), and is calculated by an image recognition unit 103 described later.
- a predetermined value for example, 1: 2
- the imaging target vehicle may be imaged.
- the imaging target vehicle in the image data is projected at an appropriate angle.
- the image recognition unit 103 recognizes a specific part in image data including the imaging target vehicle imaged by the imaging unit 102. Specifically, for example, the image recognition unit 103 may recognize a passenger of the imaging target vehicle in the image data, or recognize a license plate of the imaging target vehicle in the image data.
- the image recognition unit 103 may recognize another vehicle different from the imaging target vehicle in the image data, for example. Further, the image recognition unit 103 may be configured to recognize the vehicle type of the imaging target vehicle in the image data, for example.
- the image recognition unit 103 recognizes the length of the bumper and the side surface of the vehicle from the image data including the imaging target vehicle imaged by the imaging unit 102 by recognizing the length of the bumper and the vehicle side surface of the imaging target vehicle. It may be configured to calculate the ratio.
- the image processing unit 104 performs predetermined image processing on the specific part recognized by the image recognition unit 103. Specifically, for example, the image processing unit 104 is operated by the image recognition unit 103. The recognized passenger may be subjected to image processing so as not to be discriminated, or the license plate recognized by the image recognition unit 103 may be subjected to image processing so that it cannot be discriminated.
- the image processing unit 104 performs image processing so as to erase the other vehicle from the image data, for example, by superimposing a background image as a background on the other vehicle recognized by the image recognition unit 103. Also good. Furthermore, the image processing unit 104 may perform image processing when the vehicle type power recognized by the image recognition unit 103 is a predetermined vehicle type.
- the predetermined vehicle type is, for example, a vehicle type that the user desires to record as image data even in a configuration in which the user pre-registers.
- the recording unit 105 records the image data that has been subjected to image processing by the image processing unit 104.
- the image data may be recorded on a recording medium (not shown), or may be configured to output to an external server by communication!
- the image recognition unit 103 is configured to recognize the vehicle type. However, when the vehicle to be imaged is detected by vehicle-to-vehicle communication, a blueprint related to the vehicle type is received by vehicle-to-vehicle communication. As you do.
- the image recognition unit 103 is configured to recognize the vehicle type with respect to the image data including the imaging target vehicle imaged by the imaging unit 102.
- the vehicle type may be recognized for the processed image data.
- the recording unit 105 may record the image data when the vehicle type recognized by the image recognition unit 103 is a predetermined vehicle type.
- FIG. 2 is a flowchart showing the contents of the processing of the data recording apparatus according to the present embodiment.
- the detection unit 101 determines whether or not the force has detected the imaging target vehicle (step S201).
- step S201 waiting for detection of the imaging target vehicle and detecting it (step S201: Yes), the imaging unit 102 images the imaging target vehicle detected in step S201 (step S201: Yes). Step S202).
- step S203 the imaging target vehicle imaged in step S202 by the image recognition unit 103.
- a specific part in the image data including both is recognized (step S203).
- the image processing unit 104 performs predetermined image processing on the specific part recognized in step S203 (step S204).
- the recording unit 105 records the image data subjected to the image processing in step S204 (step S205), and the series of processing ends.
- the data recording apparatus, the data recording method, the data recording program, and the computer-readable recording medium of the present invention have their functions realized by the data recording apparatus 100 shown in FIG.
- the apparatus is not limited to the data recording apparatus 100, and a plurality of apparatuses may be used as long as the configuration includes the functional unit shown in FIG.
- the connection between the devices may be established by performing communication using, for example, Bluetooth (registered trademark) regardless of wired or wireless.
- the user operates the data recording device. Even without it, the image data of the vehicle to be imaged can be collected automatically. In particular, since the driver can confirm the imaging target vehicle by image data after driving, it is not necessary to pay attention to the imaging target vehicle during driving, and safe driving can be achieved.
- the drive unit can be driven in accordance with the relative speed of the imaging target vehicle to image the imaging target vehicle, so that accurate imaging of the imaging target vehicle is achieved. Can do.
- the image data of the imaging target vehicle for a predetermined vehicle type is recorded, it is possible to optimize the collection of the image data without recording unnecessary image data.
- the background image can be overlaid and erased from the image data, so that it is possible to optimize the image data so that an unintended vehicle does not enter the image data.
- the imaging target vehicle is configured to perform image processing that makes it impossible to discriminate passengers, license plates, and the like, personal information regarding the passenger and owner of the imaging target vehicle appropriately Can be protected.
- FIG. 3 is a block diagram showing an example of the hardware configuration of the in-vehicle device that works on the present embodiment.
- an in-vehicle device 300 is mounted on a moving body such as a vehicle, and includes a CPU 301, a ROM 302, a RAM 303, a magnetic disk drive 304, a magnetic disk 305, an optical disk drive 306, Optical disk 307, audio I / F (interface) 308, speaker 309, human power device 310, video I / F 311, display 312, camera 313, communication IZF 314, GPS unit 315, and various sensors 316 And.
- Each component 301 to 316 is connected by a bus 320.
- the CPU 301 governs overall control of the in-vehicle device 300.
- the ROM 302 stores various programs such as a boot program, an image capturing program, an image recognition program, an image processing program, and a data recording program.
- the RAM 303 is used as a work area for the CPU 301.
- the image capturing program causes the approaching vehicle to be imaged by an after-mentioned camera 313 as an imaging target vehicle.
- the imaging target vehicle is an oncoming vehicle approaching the host vehicle, and the relative speed is calculated using the output values from the various sensors 316, and the camera 313 is driven (not shown).
- the part may be driven to cause panning. In this way, by driving the drive unit and capturing an image, it is possible to accurately capture the oncoming vehicle without blurring.
- the image recognition program causes image recognition using, for example, image data captured by a camera 313 described later. Specifically, for example, in the image recognition, it is recognized whether the vehicle included in the image data is a vehicle of a predetermined vehicle type.
- the predetermined vehicle type is, for example, Even a configuration that can be registered in advance by the user, such as a car model that the user wants to collect as image data.
- the image recognition may be, for example, to recognize a vehicle occupant or a number plate included in the image data, or a vehicle other than the oncoming vehicle to be imaged.
- Image recognition is performed after correction processing such as enlargement, reduction, rotation, etc. is performed on the digitalized image data force, excluding distortion and noise. Extraction is performed to obtain feature parameters or feature vectors. Then, a feature quantity that matches the standard pattern or a feature quantity close to the standard pattern is determined by identification from among the feature quantities such as the feature vector obtained, and is associated with a predetermined category. More specifically, for example, in image recognition, the power that has the same standard pattern as the input pattern in the input image data by pattern matching using feature quantities is close or near! It's also possible to detect if there is something!
- the image processing program for example, performs predetermined image processing on the image data recognized by the image recognition.
- the predetermined image processing is, for example, processing that makes it impossible to discern the vehicle occupant and license plate included in the image data, or the oncoming vehicle that is the subject of imaging.
- a background image may be superimposed on a vehicle other than the above.
- the data recording program controls a magnetic disk drive 304 and an optical disk drive 306, which will be described later, to record data on a recording medium such as the magnetic disk 305 and the optical disk 307.
- the data to be recorded is image data subjected to image processing by an image processing program.
- the user can obtain image data with a desired vehicle type and personal information appropriately protected.
- image processing is performed and image data that is not protected by personal information is recorded once, and personal information cannot be properly protected. Can be prevented.
- the magnetic disk drive 304 controls reading and writing of data to the magnetic disk 305 according to the control of the CPU 301.
- the magnetic disk 305 records data written under the control of the magnetic disk drive 304.
- magnetic disk 305 For example, HD (node disk) and FD (flexible disk) can be used.
- Examples of information recorded on the magnetic disk 305 include standard patterns used for image recognition and image processing, predetermined vehicle types, and image data subjected to image processing.
- the standard pattern, the predetermined vehicle type, and the image data are recorded on the magnetic disk 305, but may be recorded on the optical disk 307 to be described later.
- the standard pattern, the predetermined vehicle type, and the image data may be provided outside the in-vehicle device 300, not limited to those recorded integrally with the hardware of the in-vehicle device 300. Good.
- the in-vehicle device 300 acquires a standard pattern or a predetermined vehicle type or outputs image data via the network via the communication IZF314.
- the acquired standard pattern and the specified vehicle type are stored in RAM303 etc.
- the optical disk drive 306 controls data reading / writing to the optical disk 307 according to the control of the CPU 301.
- the optical disk 307 is a detachable recording medium from which data is read according to the control of the optical disk drive 306.
- a writable recording medium can be used as the optical disk 307.
- the removable recording medium may be a power MO of the optical disc 307, a memory card, or the like.
- the audio IZF 308 is connected to an audio output speaker 309, and audio is output from the speaker 309.
- Examples of the input device 310 include a remote controller, a keyboard, a mouse, and a touch panel that are provided with a plurality of keys for inputting characters, numerical values, various instructions, and the like.
- the video I / F 311 is connected to the display 312 and the camera 313.
- the video I / F 311 includes, for example, a graphic controller that controls the entire display 312, a buffer memory such as VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic Based on the image data output from the controller, it is configured by a control IC that controls the display 312 display.
- VRAM Video RAM
- the display 312 displays icons, cursors, menus, windows, or various data such as characters and images.
- a CRT for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted.
- Display A plurality of vehicles 312 may be provided, for example, for a driver and for a passenger seated in a rear seat.
- the camera 313 is installed on the dashboard or ceiling of the vehicle and captures images outside the vehicle.
- the video can be either a still image or a moving image.
- the oncoming vehicle is imaged by the camera 313, and the captured image data is processed by an image recognition program or an image processing program, and then a recording medium such as a magnetic disk 305 or an optical disk 307. It may be output to.
- the camera 313 may be a movable type that can image the imaging direction determined by driving the driving unit.
- the communication I / F 314 is connected to a network via radio and functions as an interface between the in-vehicle device 300 and the CPU 301.
- the communication I / F 314 is further connected to a communication network such as the Internet via wireless, and also functions as an interface between the communication network and the CPU 301.
- Communication networks include LANs, WANs, public line networks, mobile phone networks, and the like.
- the communication IZF314 is composed of, for example, an FM tuner, VICS (Vehicle Information and Communication System) Z beacon resino, wireless navigation device, and other navigation devices. Get road traffic information such as traffic regulations. VICS is a registered trademark.
- the GPS unit 315 receives radio waves from GPS satellites and outputs information indicating the current location of the vehicle.
- the output information of the GPS unit 315 is used when the CPU 301 calculates the current location of the vehicle together with output values of various sensors 316 described later.
- the information indicating the current location is information that identifies one point on the map information, for example, latitude'longitude, altitude, etc., and may be configured so that the location of the image data can be confirmed by associating it with the image data to be recorded. .
- the various sensors 316 include a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, and the like, and the output values of the various sensors 316 are used by the CPU 301 to calculate the current position of the vehicle and to measure changes in speed and direction. .
- the various sensors 316 may be configured to detect a vehicle located in the vicinity of the own vehicle, such as an infrared sensor or an ultrasonic sensor.
- the surrounding vehicle may be detected using inter-vehicle communication by the force communication IZF 314 configured to detect a vehicle located around the own vehicle.
- the detection unit 101, the imaging unit 102, the image recognition unit 103, the image processing unit 104, and the recording unit 105 included in the data recording device 100 illustrated in FIG. 1 are the ROM 30 2 in the in-vehicle device 300 illustrated in FIG.
- the CPU 301 executes a predetermined program using the program data recorded in the RAM 303, the magnetic disk 305, the optical disk 307, etc., and controls each part in the in-vehicle device 300 to realize its function.
- the in-vehicle device 300 includes the data recording device 100 shown in FIG. 1 by executing various programs recorded in the ROM 302 as a recording medium in the in-vehicle device 300.
- the function can be executed by the procedure shown in FIG.
- FIG. 4 is an explanatory diagram of image data that has been image-recognized according to the present embodiment.
- image data 400 is composed of an oncoming vehicle 401 imaged by a camera 313, a driver 402 driving the oncoming vehicle 401, and a number plate 403 installed in the oncoming vehicle 401. ing.
- the oncoming vehicle 401 is detected by various sensors 316 and is imaged under the control of the CPU 301. Specifically, for example, the relative speed is calculated using output values of various sensors 316 by an image capturing program, and the image is captured by a panning shot in which the drive unit is driven in the camera 313, not shown.
- the oncoming vehicle 401 is recognized by the image recognition program as to whether or not it is a predetermined vehicle type registered by the user, and is assumed to be a predetermined vehicle type in the description of the present embodiment.
- the driver 402 is imaged when the oncoming vehicle 401 is imaged, and is recognized by the image recognition program.
- the license plate 403 is imaged when the oncoming vehicle 401 is imaged, and is recognized by the image recognition program.
- the image recognition program recognizes other vehicles that may include other vehicles in addition to the oncoming vehicle 401 in the image data 400. Become.
- FIG. 5 is an explanatory diagram showing image data that has been subjected to image processing according to the present embodiment.
- image data 500 includes an oncoming vehicle 501, a light reflection image 502, a license plate mark 503, and a force.
- the oncoming vehicle 501 is subjected to predetermined image processing, and the driver 402 and the license plate 403 shown in FIG. 4 cannot be discriminated.
- a light reflection image 502 representing a state in which light is reflected on the windshield is displayed by the image processing program on the driver 402 recognized by the image recognition program. Again, the driver's face disappears with a natural look.
- the number plate 403 recognized by the image recognition program is filled with a number to form a license plate mark 503.
- the oncoming vehicle 501 that has been subjected to image processing appropriately protects personal information that identifies a user or the like, and stores the image data 500 that has been subjected to image processing, so The user of the device 300 can appropriately collect the image data 500 including the desired vehicle.
- FIG. 6 is a flowchart showing the contents of the processing of the in-vehicle device that works on the present embodiment.
- the approach of the oncoming vehicle may be configured to detect that the oncoming vehicle is located within a predetermined distance from the own vehicle.
- the oncoming lane may be recognized by recognizing the center line on the road, and a vehicle having a vector in the opposite direction to the own vehicle in the oncoming lane may be used as the oncoming vehicle.
- step S601 waiting for the oncoming vehicle to approach and approaching (step In S601: Yes, the CPU 301 calculates the relative speed of the oncoming vehicle approaching in step S601 using the output values of the various sensors 316 (step S602).
- the oncoming vehicle is shot by controlling the driving unit of the camera 313 so that the oncoming vehicle can be imaged by the CPU 301 in accordance with the relative speed calculated in step S602 (step S603).
- the CPU 301 detects the license plate of the oncoming vehicle by recognizing the image data captured in step S603 (step S604), and deletes the license plate that also detected the image data force by performing image processing. (Step S605).
- the number plate may be deleted so that the number is painted indefinitely.
- the CPU 301 detects an oncoming vehicle occupant by recognizing the image data captured in step S603 (step S606), and performs image processing to detect the occupant detected from the image data. Overwrite the light reflection image (step S607).
- the CPU 301 recognizes whether the image data picked up in step S603 is image-recognized, thereby determining whether or not there is a force other than the oncoming vehicle in the image data (step S608).
- step S608 if there is another vehicle (step S608: Yes), the CPU 301 superimposes the background image on the other vehicle determined in step S608 by performing image processing (step S608: Yes). S609).
- step S608 if there is no other vehicle (step S608: No), the process proceeds to step S610.
- the CPU 301 determines whether or not the oncoming vehicle is a predetermined vehicle type by recognizing the image data captured in step S603 (step S610).
- the predetermined vehicle type may be information that defines a category such as a plurality of sports cars.
- the vehicle type may be determined by matching with an image of a predetermined vehicle type such as a user preference that has been registered in advance. More specifically, the vehicle type such as the tire diameter and interval may be determined. For example, the tire diameter is large and the interval is large. In this case, the track and tire diameter are large. Narrow, if sports First, when the tire diameter is small and the interval is narrow, it may be determined as a light vehicle. Alternatively, the external force of the opposite vehicle may be configured to determine the shape or color of a one-box car, sedan, jeep, etc., or to recognize a character that is added to the vehicle body.
- step S610 if the vehicle is a predetermined vehicle type (step S610: Yes), the CPU 301 records the image data processed in steps S605, S607, and S609 (step S611), Terminate the process.
- step S610: No If the vehicle is not a predetermined vehicle type in step S610 (step S610: No), the series of processing ends as it is. Although the description is omitted in the flowchart of FIG. 6, if the power of the predetermined vehicle type is strong (step S610: No), the image data may be deleted.
- image recognition and image processing in steps S604 to S610 described in the flowchart of FIG. 6 is not limited to this. Specifically, for example, image recognition and image processing related to a passenger may be performed before image recognition and image processing related to a license plate. Alternatively, it may be configured to first determine whether or not a given vehicle has power.
- the panning can be performed by driving the camera drive unit according to the relative speed of the oncoming vehicle approaching the host vehicle, the oncoming vehicle can be imaged without blurring.
- the pick-up plate and the passenger and perform image processing that cannot be distinguished appropriate personal information can be protected.
- the panning may be performed by changing the shutter speed of the camera according to the relative speed of the oncoming vehicle approaching the host vehicle.
- the shutter speed can be changed by increasing the shutter speed when the relative speed of the oncoming vehicle is high and decreasing the shutter speed when the relative speed of the oncoming vehicle is slow !, . In this way, only the background that the oncoming vehicle does not shake is blurred, so It is possible to acquire certain image data.
- image data of a predetermined vehicle type can be recorded, it is possible to optimize image data collection without storing anything other than the vehicle type desired by the user.
- the configuration is such that the image data of the oncoming vehicle is mounted on the vehicle, but the configuration may be such that the image data of the imaging target vehicle is captured without being mounted on the vehicle.
- image data of the imaging target vehicle may be captured and collected by a fixed point camera or the like. With a fixed-point camera, it is not necessary to take measures such as vibration when mounting on-vehicle, so an inexpensive system can be provided.
- the captured image of the oncoming vehicle may be displayed as an album.
- an album only the oncoming vehicles may be selectively extracted from the captured images and collected.
- the interpolation process may be performed by using the fact that the vehicle is generally symmetrical. Furthermore, it is also possible to capture images of the front, side, and rear of the oncoming vehicle using a back camera that captures the rear of the vehicle. In this way, the vehicle structure can be understood accurately and a 3D model of the entire vehicle can be created.
- a configuration for recording information of oncoming vehicles may be provided. Specifically, for example, as the information on the oncoming vehicle, an image of the leading vehicle in the traffic jam may be recorded, and an image of the leading vehicle or information such as an accident may be transmitted to the vehicle in the traffic jam.
- a configuration may be used in which information indicating that the traffic jam has occurred is transmitted when the vehicle passes an oncoming vehicle that is traveling alone. In this way, the vehicle user who has received the information can determine the power of waiting for a force signal because the cause of the traffic jam is an accident.
- the information on oncoming vehicles may include information such as the number of oncoming vehicles and the results of vehicle type judgments such as trucks. This information can predict road congestion and dangers such as trucks. It can be judged whether there are many vehicles to be used. When crowded, If the opposite vehicle is not imaged, it is possible to prevent many oncoming vehicles from being detected and taking too many pictures.
- the object to be imaged is a vehicle, but is not limited to a vehicle.
- a vehicle but is not limited to a vehicle.
- the data recording method described in the present embodiment can be realized by executing a prepared program on a computer such as a personal computer or a workstation.
- This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by reading the recording medium force by the computer.
- this program may be a transmission medium that can be distributed via a network such as the Internet.
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Abstract
A detection section (101) detects a target vehicle for imaging located near a vehicle. An imaging section (102) images the target vehicle detected by the detection section (101). An image recognition section (103) recognizes a specific portion of image data including the target vehicle imaged by the imaging section (102). An image processing section (104) applies predetermined image processing to the specific portion recognized by the image recognition section (103). A recording section (105) records image data subjected to the image processing by the image processing section (104).
Description
明 細 書 Specification
データ記録装置、データ記録方法、データ記録プログラムおよびコンビュ ータに読み取り可能な記録媒体 Data recording device, data recording method, data recording program, and computer-readable recording medium
技術分野 Technical field
[0001] この発明は、画像データを記録するデータ記録装置、データ記録方法、データ記 録プログラムおよびコンピュータに読み取り可能な記録媒体に関する。ただし、この 発明の利用は、上述したデータ記録装置、データ記録方法、データ記録プログラム およびコンピュータに読み取り可能な記録媒体には限られない。 The present invention relates to a data recording device for recording image data, a data recording method, a data recording program, and a computer-readable recording medium. However, the use of the present invention is not limited to the above-described data recording apparatus, data recording method, data recording program, and computer-readable recording medium.
背景技術 Background art
[0002] 従来より、車両に設置された車載カメラは、車外の風景や人物を撮影することがで きる。近年では、車載カメラと遠隔操作をおこなうためのキーレス操作器を用いて、車 外から風景や人物を撮影する場合、遠隔操作によって撮影をおこなうとともに、操作 者や被写体となる人に車載カメラによって撮影できたことを報知する提案がされてい る(たとえば、下記特許文献 1参照。 ) o [0002] Conventionally, an in-vehicle camera installed in a vehicle can photograph a scenery or a person outside the vehicle. In recent years, when shooting a landscape or a person from outside the vehicle using a keyless controller for remote control with the on-vehicle camera, the remote control is used to shoot, and the on-board camera is used to photograph the operator or subject. There has been a proposal to notify that it has been made (for example, see Patent Document 1 below). O
[0003] 特許文献 1 :特開 2005— 199948号公報 [0003] Patent Document 1: JP 2005-199948
発明の開示 Disclosure of the invention
発明が解決しょうとする課題 Problems to be solved by the invention
[0004] し力しながら、上述した従来技術では、撮影の際には操作者が操作しなければなら ず、車両が走行中の場合、被写体を的確に捉えて撮影する操作は困難であり、利用 者は、所望の被写体を納めた画像を取得することができないという問題が一例として 挙げられる。特に、車両が走行中に、運転者が車載カメラを操作することは安全運転 の妨げとなってしまう。 [0004] However, with the above-described conventional technology, the operator must operate during shooting, and when the vehicle is running, it is difficult to accurately capture and shoot the subject. An example of the problem is that the user cannot acquire an image containing a desired subject. In particular, if the driver operates the in-vehicle camera while the vehicle is running, it will hinder safe driving.
[0005] 一方、車両が停車中であっても、対向車両など動的な被写体を撮影する場合、ぶ れなどが生じて的確に撮影することは困難であるため、利用者は、所望する被写体を 納めた画像を取得することができないという問題が一例として挙げられる。 [0005] On the other hand, even when the vehicle is stopped, when shooting a dynamic subject such as an oncoming vehicle, it is difficult to capture the subject accurately because of blurring and the like, so the user can An example of this is the problem that an image containing can't be acquired.
[0006] さらに、利用者が所望する被写体を納めた画像であっても、被写体の人物像や被 写体を特定するような情報をあわせて撮影してしまった場合、被写体に関する個人
情報が漏えいの危険にさらされるという問題が一例として挙げられる。 [0006] Furthermore, even if an image contains a subject desired by the user, if the photographer is taken together with information that specifies the person image of the subject or the subject, an individual related to the subject An example is the problem of information being exposed to the risk of leakage.
課題を解決するための手段 Means for solving the problem
[0007] 上述した課題を解決し、目的を達成するため、請求項 1の発明にかかるデータ記録 装置は、車両の周辺に位置する撮像対象となる撮像対象車両を検出する検出手段 と、前記検出手段によって検出された撮像対象車両を撮像する撮像手段と、前記撮 像手段によって撮像された撮像対象車両を含む画像データにおける特定部位を認 識する画像認識手段と、前記画像認識手段によって認識された特定部位に所定の 画像処理を施す画像処理手段と、前記画像処理手段によって画像処理が施された 画像データを記録する記録手段と、を備えることを特徴とする。 In order to solve the above-described problems and achieve the object, a data recording apparatus according to the invention of claim 1 includes a detection unit that detects an imaging target vehicle that is an imaging target located around the vehicle, and the detection Imaging means for imaging the imaging target vehicle detected by the means, image recognition means for recognizing a specific part in image data including the imaging target vehicle imaged by the imaging means, and the image recognition means An image processing unit that performs predetermined image processing on a specific part, and a recording unit that records image data subjected to image processing by the image processing unit.
[0008] また、請求項 8の発明に力かるデータ記録方法は、車両の周辺に位置する撮像対 象となる撮像対象車両を検出する検出工程と、前記検出工程によって検出された撮 像対象車両を撮像する撮像工程と、前記撮像工程によって撮像された撮像対象車 両を含む画像データにおける特定部位を認識する画像認識工程と、前記画像認識 工程によって認識された特定部位に所定の画像処理を施す画像処理工程と、前記 画像処理工程によって画像処理が施された画像データを記録する記録工程と、を含 むことを特徴とする。 [0008] Further, the data recording method according to the invention of claim 8 includes a detection step of detecting an imaging target vehicle that is an imaging target located around the vehicle, and an imaging target vehicle detected by the detection step. An image recognition step of recognizing a specific part in image data including the imaging target vehicle imaged in the imaging step, and a predetermined image processing is performed on the specific part recognized in the image recognition step An image processing step, and a recording step for recording the image data subjected to the image processing in the image processing step.
[0009] また、請求項 9の発明に力かるデータ記録プログラムは、請求項 8に記載のデータ 記録方法をコンピュータに実行させることを特徴とする。 [0009] A data recording program according to claim 9 causes a computer to execute the data recording method according to claim 8.
[0010] また、請求項 10の発明にかかるコンピュータに読み取り可能な記録媒体は、請求 項 9に記載のデータ記録プログラムを記録したことを特徴とする。 [0010] A computer-readable recording medium according to the invention of claim 10 records the data recording program according to claim 9.
図面の簡単な説明 Brief Description of Drawings
[0011] [図 1]図 1は、本実施の形態に力かるデータ記録装置の機能的構成の一例を示すブ ロック図である。 FIG. 1 is a block diagram showing an example of a functional configuration of a data recording apparatus that works according to the present embodiment.
[図 2]図 2は、本実施の形態に力かるデータ記録装置の処理の内容を示すフローチヤ ートである。 [FIG. 2] FIG. 2 is a flow chart showing the contents of processing of the data recording apparatus which is effective in the present embodiment.
[図 3]図 3は、本実施例に力かる車載装置のハードウェア構成の一例を示すブロック 図である。 FIG. 3 is a block diagram illustrating an example of a hardware configuration of an in-vehicle device that works on the present embodiment.
[図 4]図 4は、本実施例にカゝかる画像認識された画像データを示す説明図である。
[図 5]図 5は、本実施例にカゝかる画像処理が施された画像データを示す説明図である [FIG. 4] FIG. 4 is an explanatory view showing image data recognized as an image according to the present embodiment. FIG. 5 is an explanatory diagram showing image data that has been subjected to image processing according to the present embodiment.
[図 6]図 6は、本実施例に力かる車載装置の処理の内容を示すフローチャートである 符号の説明 [FIG. 6] FIG. 6 is a flowchart showing the contents of the processing of the in-vehicle device that is useful in the present embodiment.
[0012] 100 データ記録装置 [0012] 100 data recording apparatus
101 検出部 101 detector
102 撮像部 102 Imaging unit
103 画像認識部 103 Image recognition unit
104 画像処理部 104 Image processing unit
105 記録部 105 Recording section
発明を実施するための最良の形態 BEST MODE FOR CARRYING OUT THE INVENTION
[0013] 以下に添付図面を参照して、この発明にかかるデータ記録装置、データ記録方法[0013] A data recording apparatus and a data recording method according to the present invention will be described below with reference to the accompanying drawings.
、データ記録プログラムおよびコンピュータに読み取り可能な記録媒体の好適な実施 の形態を詳細に説明する。 Now, preferred embodiments of a data recording program and a computer-readable recording medium will be described in detail.
[0014] (実施の形態) [0014] (Embodiment)
(データ記録装置の機能的構成) (Functional configuration of data recording device)
図 1を用いて、本実施の形態に力かるデータ記録装置の機能的構成について説明 する。図 1は、本実施の形態に力かるデータ記録装置の機能的構成の一例を示すブ ロック図である。 With reference to FIG. 1, the functional configuration of the data recording apparatus that is useful in the present embodiment will be described. FIG. 1 is a block diagram showing an example of a functional configuration of a data recording apparatus according to the present embodiment.
[0015] 図 1において、データ記録装置 100は、検出部 101と、撮像部 102と、画像認識部 In FIG. 1, a data recording apparatus 100 includes a detection unit 101, an imaging unit 102, and an image recognition unit.
103と、画像処理部 104と、記録部 105と、から構成されている。 103, an image processing unit 104, and a recording unit 105.
[0016] 検出部 101は、車両の周辺に位置する撮像対象となる撮像対象車両を検出する。 [0016] The detection unit 101 detects an imaging target vehicle that is an imaging target located around the vehicle.
撮像対象車両の検出は、たとえば、図示しない赤外線センサ、超音波センサなどの センサや車車間通信などによっておこなわれる。 The vehicle to be imaged is detected by, for example, a sensor such as an infrared sensor or an ultrasonic sensor (not shown) or vehicle-to-vehicle communication.
[0017] 具体的には、たとえば、検出部 101は、車両と、撮像対象車両との位置関係を検出 したり、撮像対象車両の車両に対する相対速度を検出したりすることとしてもよい。 Specifically, for example, the detection unit 101 may detect a positional relationship between the vehicle and the imaging target vehicle, or may detect a relative speed of the imaging target vehicle with respect to the vehicle.
[0018] 撮像部 102は、検出部 101によって検出された撮像対象車両を撮像する。撮像対
象車両の撮像は、たとえば、図示しない車載カメラなどによっておこなわれ、任意の 方向を撮像できる可動式の車載カメラなどであってもよい。 The imaging unit 102 images the imaging target vehicle detected by the detection unit 101. Imaging vs. The elephant vehicle may be imaged by, for example, an in-vehicle camera (not shown), and may be a movable in-vehicle camera that can image an arbitrary direction.
[0019] 具体的には、たとえば、撮像部 102は、検出部 101によって検出された位置関係が 所定の距離となった場合に、撮像対象車両を撮像してもよい。また、検出部 101によ つて検出された相対速度に応じて撮像対象車両を撮像するよう駆動させる駆動部を 有する構成でもよい。換言すれば、撮像部 102は、撮像対象車両の相対速度に応じ て、駆動部を駆動させることによって流し撮りをおこなうこととしてもよい。 Specifically, for example, the imaging unit 102 may capture an imaging target vehicle when the positional relationship detected by the detection unit 101 reaches a predetermined distance. Further, a configuration having a drive unit that drives the imaging target vehicle to image in accordance with the relative speed detected by the detection unit 101 may be used. In other words, the imaging unit 102 may perform panning by driving the drive unit according to the relative speed of the imaging target vehicle.
[0020] より具体的には、たとえば、撮像部 102は、撮像対象車両の相対速度に応じて駆動 部を追従させ、駆動部の回転角度が車両前方力も所定の角度 (たとえば、 45度)とな つた場合に撮像することとしてもよ!/、。 More specifically, for example, the imaging unit 102 causes the drive unit to follow in accordance with the relative speed of the imaging target vehicle, and the rotation angle of the drive unit is such that the vehicle front force is a predetermined angle (for example, 45 degrees). It is also possible to take a picture in the case! /.
[0021] また、撮像部 102は、撮像対象車両の相対速度に応じて駆動部を追従させ、所定 の間隔 (たとえば、毎秒 30回)で撮像して、後述する画像認識部 103によって算出さ れた撮像対象車両のバンパーと車両側面の長さの比が所定の値 (たとえば、 1: 2)で ある場合に、撮像対象車両を撮像することとしてもよい。すなわち、撮像対象車両の バンパーと車両側面の長さの比が所定の値となるように、撮像対象車両を撮像するこ とで、画像データ中の撮像対象車両が適切なアングルで映し出されることとなる。 In addition, the imaging unit 102 causes the driving unit to follow in accordance with the relative speed of the imaging target vehicle, captures images at a predetermined interval (for example, 30 times per second), and is calculated by an image recognition unit 103 described later. In addition, when the ratio of the length of the bumper and the vehicle side surface of the imaging target vehicle is a predetermined value (for example, 1: 2), the imaging target vehicle may be imaged. In other words, by capturing the imaging target vehicle so that the ratio between the length of the bumper of the imaging target vehicle and the side surface of the vehicle becomes a predetermined value, the imaging target vehicle in the image data is projected at an appropriate angle. Become.
[0022] 画像認識部 103は、撮像部 102によって撮像された撮像対象車両を含む画像デ ータにおける特定部位を認識する。具体的には、たとえば、画像認識部 103は、画 像データにおける撮像対象車両の搭乗者を認識したり、画像データにおける撮像対 象車両のナンバープレートを認識したりすることとしてもよい。 The image recognition unit 103 recognizes a specific part in image data including the imaging target vehicle imaged by the imaging unit 102. Specifically, for example, the image recognition unit 103 may recognize a passenger of the imaging target vehicle in the image data, or recognize a license plate of the imaging target vehicle in the image data.
[0023] また、画像認識部 103は、たとえば、画像データにおける撮像対象車両とは異なる 他の車両を認識することとしてもよい。さら〖こ、画像認識部 103は、たとえば、画像デ ータにおける撮像対象車両の車種を認識する構成でもよい。 [0023] Further, the image recognition unit 103 may recognize another vehicle different from the imaging target vehicle in the image data, for example. Further, the image recognition unit 103 may be configured to recognize the vehicle type of the imaging target vehicle in the image data, for example.
[0024] さらに、画像認識部 103は、撮像部 102によって撮像された撮像対象車両を含む 画像データから、撮像対象車両のバンパーと車両側面の長さを認識することによって 、バンパーと車両側面の長さの比を算出する構成でもよい。 Furthermore, the image recognition unit 103 recognizes the length of the bumper and the side surface of the vehicle from the image data including the imaging target vehicle imaged by the imaging unit 102 by recognizing the length of the bumper and the vehicle side surface of the imaging target vehicle. It may be configured to calculate the ratio.
[0025] 画像処理部 104は、画像認識部 103によって認識された特定部位に所定の画像 処理を施す。具体的には、たとえば、画像処理部 104は、画像認識部 103によって
認識された搭乗者を判別不可能に画像処理を施したり、画像認識部 103によって認 識されたナンバープレートを判別不可能に画像処理を施したりしてもよい。 [0025] The image processing unit 104 performs predetermined image processing on the specific part recognized by the image recognition unit 103. Specifically, for example, the image processing unit 104 is operated by the image recognition unit 103. The recognized passenger may be subjected to image processing so as not to be discriminated, or the license plate recognized by the image recognition unit 103 may be subjected to image processing so that it cannot be discriminated.
[0026] また、画像処理部 104は、たとえば、画像認識部 103によって認識された他の車両 に背景となる背景画像を重ねることによって、他の車両を画像データから消すように 画像処理を施してもよい。さら〖こ、画像処理部 104は、画像認識部 103によって認識 された車種力 所定の車種であった場合に画像処理を施すこととしてもよ ヽ。 [0026] Further, the image processing unit 104 performs image processing so as to erase the other vehicle from the image data, for example, by superimposing a background image as a background on the other vehicle recognized by the image recognition unit 103. Also good. Furthermore, the image processing unit 104 may perform image processing when the vehicle type power recognized by the image recognition unit 103 is a predetermined vehicle type.
[0027] 所定の車種は、たとえば、利用者によってあら力じめ登録する構成でもよぐ利用者 が画像データとして記録を所望する車種などである。 [0027] The predetermined vehicle type is, for example, a vehicle type that the user desires to record as image data even in a configuration in which the user pre-registers.
[0028] 記録部 105は、画像処理部 104によって画像処理が施された画像データを記録す る。画像データの記録は、たとえば、図示しない記録媒体に書き込んだり、図示しな V、外部サーバに通信によって出力する構成でもよ!/、。 The recording unit 105 records the image data that has been subjected to image processing by the image processing unit 104. For example, the image data may be recorded on a recording medium (not shown), or may be configured to output to an external server by communication!
[0029] なお、図 1の説明では、画像認識部 103によって車種を認識する構成としているが 、車車間通信によって撮像対象車両を検出する場合、車車間通信によって車種に関 する†青報を受信することとしてちょ 、。 [0029] In the description of Fig. 1, the image recognition unit 103 is configured to recognize the vehicle type. However, when the vehicle to be imaged is detected by vehicle-to-vehicle communication, a blueprint related to the vehicle type is received by vehicle-to-vehicle communication. As you do.
[0030] また、図 1の説明では、画像認識部 103は、撮像部 102によって撮像された撮像対 象車両を含む画像データに関して車種を認識する構成として ヽるが、画像処理部 10 4によって画像処理が施された画像データに関して車種を認識することとしてもよい。 その場合、記録部 105は、画像認識部 103によって認識された車種が、所定の車種 であった場合に画像データを記録することとしてもよい。 In the description of FIG. 1, the image recognition unit 103 is configured to recognize the vehicle type with respect to the image data including the imaging target vehicle imaged by the imaging unit 102. The vehicle type may be recognized for the processed image data. In that case, the recording unit 105 may record the image data when the vehicle type recognized by the image recognition unit 103 is a predetermined vehicle type.
[0031] (データ記録装置の処理の内容) [0031] (Contents of processing of data recording device)
つぎに、図 2を用いて、本実施の形態に力かるデータ記録装置 100の処理の内容 について説明する。図 2は、本実施の形態に力かるデータ記録装置の処理の内容を 示すフローチャートである。図 2のフローチャートにおいて、まず、検出部 101によつ て、撮像対象車両を検出した力否かを判断する (ステップ S201)。 Next, the contents of the processing of the data recording apparatus 100 that is useful for the present embodiment will be described with reference to FIG. FIG. 2 is a flowchart showing the contents of the processing of the data recording apparatus according to the present embodiment. In the flowchart of FIG. 2, first, the detection unit 101 determines whether or not the force has detected the imaging target vehicle (step S201).
[0032] ステップ S201において、撮像対象車両を検出するのを待って、検出した場合 (ステ ップ S201: Yes)は、撮像部 102によって、ステップ S 201において検出された撮像 対象車両を撮像する (ステップ S202)。 [0032] In step S201, waiting for detection of the imaging target vehicle and detecting it (step S201: Yes), the imaging unit 102 images the imaging target vehicle detected in step S201 (step S201: Yes). Step S202).
[0033] つぎに、画像認識部 103によって、ステップ S202において撮像された撮像対象車
両を含む画像データにおける特定部位を認識する (ステップ S203)。 [0033] Next, the imaging target vehicle imaged in step S202 by the image recognition unit 103. A specific part in the image data including both is recognized (step S203).
[0034] そして、画像処理部 104によって、ステップ S203において認識された特定部位に 所定の画像処理を施す (ステップ S204)。 [0034] Then, the image processing unit 104 performs predetermined image processing on the specific part recognized in step S203 (step S204).
[0035] その後、記録部 105によって、ステップ S 204において画像処理が施された画像デ ータを記録して (ステップ S205)、一連の処理を終了する。 [0035] Thereafter, the recording unit 105 records the image data subjected to the image processing in step S204 (step S205), and the series of processing ends.
[0036] なお、本発明のデータ記録装置、データ記録方法、データ記録プログラムおよびコ ンピュータに読み取り可能な記録媒体は、図 1に示したデータ記録装置 100によって 、その機能を実現することとしたが、データ記録装置 100に限ることはなぐ図 1に示 す機能部を備える構成とすれば、複数の装置であってもよい。各機能部を異なる装 置として接続する場合、装置間の接続は、たとえば、有線、無線を問わず、 Bluetoot h (登録商標)などによって通信をおこなって接続することとしてもよい。 Note that the data recording apparatus, the data recording method, the data recording program, and the computer-readable recording medium of the present invention have their functions realized by the data recording apparatus 100 shown in FIG. The apparatus is not limited to the data recording apparatus 100, and a plurality of apparatuses may be used as long as the configuration includes the functional unit shown in FIG. When connecting each functional unit as a different device, the connection between the devices may be established by performing communication using, for example, Bluetooth (registered trademark) regardless of wired or wireless.
[0037] 以上説明したように、本実施の形態にかかるデータ記録装置、データ記録方法、デ ータ記録プログラムおよびコンピュータに読み取り可能な記録媒体によれば、利用者 は、データ記録装置を操作しなくても、撮像対象車両の画像データを自動的に収集 することができる。特に、運転者は、運転後に画像データによって撮像対象車両を確 認することができるため、運転中に撮像対象車両に注意を向ける必要がなくなり、安 全運転を図ることができる。 [0037] As described above, according to the data recording device, the data recording method, the data recording program, and the computer-readable recording medium according to the present embodiment, the user operates the data recording device. Even without it, the image data of the vehicle to be imaged can be collected automatically. In particular, since the driver can confirm the imaging target vehicle by image data after driving, it is not necessary to pay attention to the imaging target vehicle during driving, and safe driving can be achieved.
[0038] また、本実施の形態によれば、撮像対象車両の相対速度に応じて駆動部を駆動さ せて撮像対象車両を撮像することができるため、的確な撮像対象車両の撮像を図る ことができる。 [0038] Furthermore, according to the present embodiment, the drive unit can be driven in accordance with the relative speed of the imaging target vehicle to image the imaging target vehicle, so that accurate imaging of the imaging target vehicle is achieved. Can do.
[0039] また、所定の車種にっ ヽての撮像対象車両の画像データを記録するため、不必要 な画像データを記録せずに、画像データの収集の最適化を図ることができる。くわえ て、撮像対象車両以外の車両については、背景画像を重ね合わせて画像データか ら消すことができるため、画像データに意図しない車両が入り込むことなぐ画像デー タの最適化を図ることができる。 [0039] Further, since the image data of the imaging target vehicle for a predetermined vehicle type is recorded, it is possible to optimize the collection of the image data without recording unnecessary image data. In addition, for vehicles other than the imaging target vehicle, the background image can be overlaid and erased from the image data, so that it is possible to optimize the image data so that an unintended vehicle does not enter the image data.
[0040] また、撮像した撮像対象車両にっ ヽて、搭乗者やナンバープレートなどを判別不 可能とする画像処理を施す構成であるため、適切に撮像対象車両の搭乗者や所有 者に関する個人情報の保護を図ることができる。
実施例 [0040] In addition, since the imaging target vehicle is configured to perform image processing that makes it impossible to discriminate passengers, license plates, and the like, personal information regarding the passenger and owner of the imaging target vehicle appropriately Can be protected. Example
[0041] 以下に、本発明の実施例について説明する。本実施例では、たとえば、車両(四輪 車、二輪車を含む)などの移動体に搭載される車載装置によって、本発明のデータ 記録装置を実施した場合の一例について説明する。 [0041] Examples of the present invention will be described below. In the present embodiment, an example in which the data recording apparatus of the present invention is implemented by an in-vehicle device mounted on a moving body such as a vehicle (including a four-wheeled vehicle and a two-wheeled vehicle) will be described.
[0042] (車載装置のハードウェア構成) [0042] (Hardware configuration of in-vehicle device)
図 3を用いて、本実施例に力かる車載装置のハードウェア構成について説明する。 図 3は、本実施例に力かる車載装置のハードウェア構成の一例を示すブロック図であ る。 With reference to FIG. 3, the hardware configuration of the in-vehicle device that works on the present embodiment will be described. FIG. 3 is a block diagram showing an example of the hardware configuration of the in-vehicle device that works on the present embodiment.
[0043] 図 3において、車載装置 300は、車両などの移動体に搭載されており、 CPU301と 、 ROM302と、 RAM303と、磁気ディスクドライブ 304と、磁気ディスク 305と、光デ イスクドライブ 306と、光ディスク 307と、音声 I/F (インターフェース) 308と、スピーカ 309と、人力デノイス 310と、映像 I/F311と、ディスプレイ 312と、カメラ 313と、通 信 IZF314と、 GPSユニット 315と、各種センサ 316と、を備えている。また、各構成 部 301〜316はバス 320によってそれぞれ接続されている。 In FIG. 3, an in-vehicle device 300 is mounted on a moving body such as a vehicle, and includes a CPU 301, a ROM 302, a RAM 303, a magnetic disk drive 304, a magnetic disk 305, an optical disk drive 306, Optical disk 307, audio I / F (interface) 308, speaker 309, human power device 310, video I / F 311, display 312, camera 313, communication IZF 314, GPS unit 315, and various sensors 316 And. Each component 301 to 316 is connected by a bus 320.
[0044] まず、 CPU301は、車載装置 300の全体の制御を司る。 ROM302は、ブートプロ グラム、画像撮像プログラム、画像認識プログラム、画像処理プログラム、データ記録 プログラムなどの各種プログラムを記録している。また、 RAM303は、 CPU301のヮ ークエリアとして使用される。 First, the CPU 301 governs overall control of the in-vehicle device 300. The ROM 302 stores various programs such as a boot program, an image capturing program, an image recognition program, an image processing program, and a data recording program. The RAM 303 is used as a work area for the CPU 301.
[0045] 画像撮像プログラムは、たとえば、後述する各種センサ 316によって、自車から所 定の範囲に接近した車両を検出した場合、接近した車両を撮像対象車両として、後 述するカメラ 313によって撮像させる。 [0045] For example, when a vehicle approaching a predetermined range from the own vehicle is detected by various sensors 316 described later, the image capturing program causes the approaching vehicle to be imaged by an after-mentioned camera 313 as an imaging target vehicle. .
[0046] 具体的には、たとえば、撮像対象車両は、自車に接近する対向車両などで、各種 センサ 316からの出力値を用いて、相対速度を算出し、カメラ 313における図示しな い駆動部を駆動させて流し撮りさせることとしてもよい。このように、駆動部を駆動させ て撮像することによって、ぶれることなく的確に対向車両を撮像することができる。 Specifically, for example, the imaging target vehicle is an oncoming vehicle approaching the host vehicle, and the relative speed is calculated using the output values from the various sensors 316, and the camera 313 is driven (not shown). The part may be driven to cause panning. In this way, by driving the drive unit and capturing an image, it is possible to accurately capture the oncoming vehicle without blurring.
[0047] 画像認識プログラムは、たとえば、後述するカメラ 313によって撮像された画像デー タを用いて画像認識させる。具体的には、たとえば、画像認識は、画像データに含ま れる車両が所定の車種の車両であるかを認識させたりする。所定の車種は、たとえば
、利用者によってあらかじめ登録できる構成でもよぐ利用者が、画像データとして収 集を所望する車種などでもよ 、。 The image recognition program causes image recognition using, for example, image data captured by a camera 313 described later. Specifically, for example, in the image recognition, it is recognized whether the vehicle included in the image data is a vehicle of a predetermined vehicle type. The predetermined vehicle type is, for example, Even a configuration that can be registered in advance by the user, such as a car model that the user wants to collect as image data.
[0048] また、画像認識は、たとえば、画像データに含まれる車両の搭乗者やナンバープレ ート、撮像の対象となった対向車両以外の車両を認識させたりすることとしてもよい。 [0048] Further, the image recognition may be, for example, to recognize a vehicle occupant or a number plate included in the image data, or a vehicle other than the oncoming vehicle to be imaged.
[0049] 公知の技術であるため詳細な説明は省略する力 画像認識は、たとえば、デジタル ィ匕された画像データ力も歪みやノイズを除き、拡大、縮小、回転など補正処理を施し た後、特徴抽出をおこなって、特徴パラメータあるいは特徴ベクトルを求める。そして 、求めた特徴パラメータある 、は特徴ベクトルなどの特徴量の中から標準パターンに 合致した特徴量、あるいは近い特徴量を識別によって決定し、所定のカテゴリーに対 応付ける。より具体的には、たとえば、画像認識は、特徴量を用いたパターンマッチ ングによって、入力画像データの中にあら力じめ標準パターンと同じものがある力、あ るいは近!、ものがあるかを検出することとしてもよ!、。 [0049] Since it is a well-known technique, detailed description is omitted. Image recognition is performed after correction processing such as enlargement, reduction, rotation, etc. is performed on the digitalized image data force, excluding distortion and noise. Extraction is performed to obtain feature parameters or feature vectors. Then, a feature quantity that matches the standard pattern or a feature quantity close to the standard pattern is determined by identification from among the feature quantities such as the feature vector obtained, and is associated with a predetermined category. More specifically, for example, in image recognition, the power that has the same standard pattern as the input pattern in the input image data by pattern matching using feature quantities is close or near! It's also possible to detect if there is something!
[0050] 画像処理プログラムは、たとえば、画像認識によって認識された画像データに所定 の画像処理を施させる。詳細は図 4および図 5を用いて説明する力 所定の画像処 理は、たとえば、画像データに含まれる車両の搭乗者やナンバープレートを判別不 可能に処理したり、撮像対象となった対向車両以外の車両に背景画像を重ね合わ せたりすることとしてもよい。 [0050] The image processing program, for example, performs predetermined image processing on the image data recognized by the image recognition. The force described in detail with reference to FIGS. 4 and 5. The predetermined image processing is, for example, processing that makes it impossible to discern the vehicle occupant and license plate included in the image data, or the oncoming vehicle that is the subject of imaging. A background image may be superimposed on a vehicle other than the above.
[0051] データ記録プログラムは、たとえば、後述する磁気ディスクドライブ 304や光ディスク ドライブ 306を制御して、磁気ディスク 305や光ディスク 307などの記録媒体にデータ を記録させる。具体的には、たとえば、記録させるデータは、画像処理プログラムによ つて画像処理された画像データなどである。このように、画像処理された画像データ を記録させることで、利用者は、所望の車種、かつ適切に個人情報を保護された画 像データを取得することができる。換言すれば、画像処理される前の画像データを記 録させてから、画像処理をおこなって、個人情報の保護されてない画像データを一 且記録して、適切に個人情報の保護が図れないことを防ぐことができる。 [0051] The data recording program, for example, controls a magnetic disk drive 304 and an optical disk drive 306, which will be described later, to record data on a recording medium such as the magnetic disk 305 and the optical disk 307. Specifically, for example, the data to be recorded is image data subjected to image processing by an image processing program. In this way, by recording image data that has been subjected to image processing, the user can obtain image data with a desired vehicle type and personal information appropriately protected. In other words, after image data before image processing is recorded, image processing is performed and image data that is not protected by personal information is recorded once, and personal information cannot be properly protected. Can be prevented.
[0052] 磁気ディスクドライブ 304は、 CPU301の制御にしたがって磁気ディスク 305に対 するデータの読み取り Z書き込みを制御する。磁気ディスク 305は、磁気ディスクドラ イブ 304の制御で書き込まれたデータを記録する。磁気ディスク 305としては、たとえ
ば、 HD (ノヽードディスク)や FD (フレキシブルディスク)を用いることができる。 The magnetic disk drive 304 controls reading and writing of data to the magnetic disk 305 according to the control of the CPU 301. The magnetic disk 305 records data written under the control of the magnetic disk drive 304. As magnetic disk 305, For example, HD (node disk) and FD (flexible disk) can be used.
[0053] 磁気ディスク 305に記録される情報の一例として、画像認識や画像処理に用いられ る標準パターンや所定の車種、画像処理が施された画像データなどが挙げられる。 なお、本実施例では標準パターンや所定の車種、画像データを磁気ディスク 305〖こ 記録するようにしたが、後述する光ディスク 307に記録するようにしてもょ 、。 [0053] Examples of information recorded on the magnetic disk 305 include standard patterns used for image recognition and image processing, predetermined vehicle types, and image data subjected to image processing. In this embodiment, the standard pattern, the predetermined vehicle type, and the image data are recorded on the magnetic disk 305, but may be recorded on the optical disk 307 to be described later.
[0054] また、標準パターンや所定の車種、画像データは、車載装置 300のハードウェアと 一体に設けられているものに限って記録されているものではなぐ車載装置 300外部 に設けられていてもよい。その場合、車載装置 300は、たとえば、通信 IZF314を通 じて、ネットワークを介して標準パターンや所定の車種を取得したり、画像データを出 力したりする。取得された標準パターンや所定の車種は RAM303などに記憶される [0054] Further, the standard pattern, the predetermined vehicle type, and the image data may be provided outside the in-vehicle device 300, not limited to those recorded integrally with the hardware of the in-vehicle device 300. Good. In this case, for example, the in-vehicle device 300 acquires a standard pattern or a predetermined vehicle type or outputs image data via the network via the communication IZF314. The acquired standard pattern and the specified vehicle type are stored in RAM303 etc.
[0055] 光ディスクドライブ 306は、 CPU301の制御にしたがって光ディスク 307に対するデ ータの読み取り Z書き込みを制御する。光ディスク 307は、光ディスクドライブ 306の 制御にしたがってデータの読み出される着脱自在な記録媒体である。光ディスク 307 は、書き込み可能な記録媒体を利用することもできる。また、この着脱可能な記録媒 体として、光ディスク 307のほ力 MO、メモリカードなどであってもよい。 The optical disk drive 306 controls data reading / writing to the optical disk 307 according to the control of the CPU 301. The optical disk 307 is a detachable recording medium from which data is read according to the control of the optical disk drive 306. As the optical disk 307, a writable recording medium can be used. Further, the removable recording medium may be a power MO of the optical disc 307, a memory card, or the like.
[0056] 音声 IZF308は、音声出力用のスピーカ 309に接続され、スピーカ 309からは音 声が出力される。 The audio IZF 308 is connected to an audio output speaker 309, and audio is output from the speaker 309.
[0057] 入力デバイス 310は、文字、数値、各種指示などの入力のための複数のキーを備 えたリモコン、キーボード、マウス、タツチパネルなどが挙げられる。 [0057] Examples of the input device 310 include a remote controller, a keyboard, a mouse, and a touch panel that are provided with a plurality of keys for inputting characters, numerical values, various instructions, and the like.
[0058] また、映像 I/F311は、ディスプレイ 312およびカメラ 313と接続される。映像 I/F 311は、具体的には、たとえば、ディスプレイ 312全体の制御をおこなうグラフィックコ ントローラと、即時表示可能な画像情報を一時的に記録する VRAM (Video RAM )などのバッファメモリと、グラフィックコントローラから出力される画像データに基づい て、ディスプレイ 312を表示制御する制御 ICなどによって構成される。 The video I / F 311 is connected to the display 312 and the camera 313. Specifically, the video I / F 311 includes, for example, a graphic controller that controls the entire display 312, a buffer memory such as VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic Based on the image data output from the controller, it is configured by a control IC that controls the display 312 display.
[0059] ディスプレイ 312には、アイコン、カーソル、メニュー、ウィンドウ、あるいは文字や画 像などの各種データが表示される。このディスプレイ 312は、たとえば、 CRT、 TFT 液晶ディスプレイ、プラズマディスプレイなどを採用することができる。また、ディスプレ
ィ 312は、車両に複数備えられていてもよぐたとえば、運転者に対するものと後部座 席に着座する搭乗者に対するものなどである。 [0059] The display 312 displays icons, cursors, menus, windows, or various data such as characters and images. As the display 312, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted. Display A plurality of vehicles 312 may be provided, for example, for a driver and for a passenger seated in a rear seat.
[0060] カメラ 313は、車両のダッシュボードや天井などに設置され、車両外部の映像を撮 像する。映像は静止画あるいは動画のどちらでもよぐたとえば、カメラ 313によって 対向車両を撮像し、撮像した画像データを画像認識プログラムや画像処理プロダラ ムなどによって処理した後に磁気ディスク 305や光ディスク 307などの記録媒体に出 力することとしてもよい。また、カメラ 313は、駆動部の駆動によって決定された撮像 方向を撮像できる可動式であってもよい。 [0060] The camera 313 is installed on the dashboard or ceiling of the vehicle and captures images outside the vehicle. The video can be either a still image or a moving image. For example, the oncoming vehicle is imaged by the camera 313, and the captured image data is processed by an image recognition program or an image processing program, and then a recording medium such as a magnetic disk 305 or an optical disk 307. It may be output to. In addition, the camera 313 may be a movable type that can image the imaging direction determined by driving the driving unit.
[0061] 通信 I/F314は、無線を介してネットワークに接続され、車載装置 300と CPU301 とのインターフェースとして機能する。通信 I/F314は、さらに、無線を介してインタ 一ネットなどの通信網に接続され、この通信網と CPU301とのインターフェースとして も機能する。 The communication I / F 314 is connected to a network via radio and functions as an interface between the in-vehicle device 300 and the CPU 301. The communication I / F 314 is further connected to a communication network such as the Internet via wireless, and also functions as an interface between the communication network and the CPU 301.
[0062] 通信網には、 LAN, WAN,公衆回線網や携帯電話網などがある。具体的には、 通信 IZF314は、たとえば、 FMチューナー、 VICS (Vehicle Information and Communication System) Zビーコンレシーノ 、無線ナビゲーシヨン装置、および その他のナビゲーシヨン装置によって構成され、 VICSセンター力も配信される渋滞 や交通規制などの道路交通情報を取得する。なお、 VICSは登録商標である。 [0062] Communication networks include LANs, WANs, public line networks, mobile phone networks, and the like. Specifically, the communication IZF314 is composed of, for example, an FM tuner, VICS (Vehicle Information and Communication System) Z beacon resino, wireless navigation device, and other navigation devices. Get road traffic information such as traffic regulations. VICS is a registered trademark.
[0063] GPSユニット 315は、 GPS衛星からの電波を受信し、車両の現在地点を示す情報 を出力する。 GPSユニット 315の出力情報は、後述する各種センサ 316の出力値とと もに、 CPU301による車両の現在地点の算出に際して利用される。現在地点を示す 情報は、たとえば緯度'経度、高度などの、地図情報上の 1点を特定する情報であり 、記録する画像データに対応付けることによって、画像データの地点を確認できる構 成としてもよい。 [0063] The GPS unit 315 receives radio waves from GPS satellites and outputs information indicating the current location of the vehicle. The output information of the GPS unit 315 is used when the CPU 301 calculates the current location of the vehicle together with output values of various sensors 316 described later. The information indicating the current location is information that identifies one point on the map information, for example, latitude'longitude, altitude, etc., and may be configured so that the location of the image data can be confirmed by associating it with the image data to be recorded. .
[0064] 各種センサ 316は、車速センサや加速度センサ、角速度センサなどを含み、各種 センサ 316の出力値は、 CPU301による車両の現在地点の算出や、速度や方位の 変化量の測定などに用いられる。 [0064] The various sensors 316 include a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, and the like, and the output values of the various sensors 316 are used by the CPU 301 to calculate the current position of the vehicle and to measure changes in speed and direction. .
[0065] また、各種センサ 316は、赤外線センサや超音波センサなどでもよぐ自車の周辺 に位置する車両を検出する構成でもよい。なお、図 3の説明では、各種センサ 316に
よって、自車の周辺に位置する車両を検出する構成とした力 通信 IZF314によって 、車車間通信を利用して周辺の車両を検出することとしてもよい。 [0065] Further, the various sensors 316 may be configured to detect a vehicle located in the vicinity of the own vehicle, such as an infrared sensor or an ultrasonic sensor. In the description of FIG. Therefore, the surrounding vehicle may be detected using inter-vehicle communication by the force communication IZF 314 configured to detect a vehicle located around the own vehicle.
[0066] 図 1に示したデータ記録装置 100が備える検出部 101、撮像部 102、画像認識部 1 03、画像処理部 104、記録部 105は、図 3に示した車載装置 300における ROM30 2、 RAM303、磁気ディスク 305、光ディスク 307などに記録されたプログラムゃデー タを用いて、 CPU301が所定のプログラムを実行し、車載装置 300における各部を 制御することによってその機能を実現する。 [0066] The detection unit 101, the imaging unit 102, the image recognition unit 103, the image processing unit 104, and the recording unit 105 included in the data recording device 100 illustrated in FIG. 1 are the ROM 30 2 in the in-vehicle device 300 illustrated in FIG. The CPU 301 executes a predetermined program using the program data recorded in the RAM 303, the magnetic disk 305, the optical disk 307, etc., and controls each part in the in-vehicle device 300 to realize its function.
[0067] すなわち、本実施例の車載装置 300は、車載装置 300における記録媒体としての ROM302に記録されて 、る各種プログラムを実行すること〖こより、図 1に示したデー タ記録装置 100が備える機能を、図 2に示した手順で実行することができる。 That is, the in-vehicle device 300 according to the present embodiment includes the data recording device 100 shown in FIG. 1 by executing various programs recorded in the ROM 302 as a recording medium in the in-vehicle device 300. The function can be executed by the procedure shown in FIG.
[0068] (画像認識および画像処理の概要) [0068] (Outline of image recognition and image processing)
ここで、図 4および図 5を用いて、本実施例に力かる画像認識および画像処理の概 要について説明する。図 4は、本実施例にかかる画像認識された画像データを示す 説明図である。 Here, the outline of image recognition and image processing which are useful in this embodiment will be described with reference to FIGS. 4 and 5. FIG. FIG. 4 is an explanatory diagram of image data that has been image-recognized according to the present embodiment.
[0069] 図 4において、画像データ 400は、カメラ 313によって撮像された対向車両 401と、 対向車両 401を運転する運転者 402と、対向車両 401に設置されたナンバープレー ト 403と、力 構成されている。 In FIG. 4, image data 400 is composed of an oncoming vehicle 401 imaged by a camera 313, a driver 402 driving the oncoming vehicle 401, and a number plate 403 installed in the oncoming vehicle 401. ing.
[0070] 対向車両 401は、各種センサ 316によって検知され、 CPU301の制御にしたがつ て撮像される。具体的には、たとえば、画像撮像プログラムによって、各種センサ 316 力もの出力値を用 、て相対速度を算出し、カメラ 313における図示しな 、駆動部を 駆動させた流し撮りによって撮像される。また、対向車両 401は、画像認識プログラム によって、利用者によって登録された所定の車種であるか否かを認識され、本実施 例における説明では所定の車種であるとする。 The oncoming vehicle 401 is detected by various sensors 316 and is imaged under the control of the CPU 301. Specifically, for example, the relative speed is calculated using output values of various sensors 316 by an image capturing program, and the image is captured by a panning shot in which the drive unit is driven in the camera 313, not shown. The oncoming vehicle 401 is recognized by the image recognition program as to whether or not it is a predetermined vehicle type registered by the user, and is assumed to be a predetermined vehicle type in the description of the present embodiment.
[0071] 運転者 402は、対向車両 401を撮像した際に撮像され、画像認識プログラムによつ て認識される。同様に、ナンバープレート 403は、対向車両 401を撮像した際に撮像 され、画像認識プログラムによって認識される。なお、図 4では説明を省略したが、画 像データ 400には、対向車両 401にくわえて他の車両が含まれていてもよぐ他の車 両は、画像認識プログラムによって認識されることとなる。
[0072] つづいて、図 5を用いて本実施例に力かる画像処理について説明する。図 5は、本 実施例にカゝかる画像処理が施された画像データを示す説明図である。 The driver 402 is imaged when the oncoming vehicle 401 is imaged, and is recognized by the image recognition program. Similarly, the license plate 403 is imaged when the oncoming vehicle 401 is imaged, and is recognized by the image recognition program. Although the description is omitted in FIG. 4, the image recognition program recognizes other vehicles that may include other vehicles in addition to the oncoming vehicle 401 in the image data 400. Become. Next, image processing that is useful in the present embodiment will be described with reference to FIG. FIG. 5 is an explanatory diagram showing image data that has been subjected to image processing according to the present embodiment.
[0073] 図 5において、画像データ 500は、対向車両 501と、光反射画像 502と、ナンバー プレート跡 503と、力 構成されている。 In FIG. 5, image data 500 includes an oncoming vehicle 501, a light reflection image 502, a license plate mark 503, and a force.
[0074] 対向車両 501は、所定の画像処理が施されており、図 4に示した運転者 402および ナンバープレート 403が判別不可能になっている。具体的には、たとえば、所定の画 像処理は、画像認識プログラムによって認識された運転者 402に対して、画像処理 プログラムによって、フロントガラスに光が反射している様子を表す光反射画像 502を 重ねて、自然な見た目で運転者の顔を消すこととしている。 The oncoming vehicle 501 is subjected to predetermined image processing, and the driver 402 and the license plate 403 shown in FIG. 4 cannot be discriminated. Specifically, for example, in the predetermined image processing, a light reflection image 502 representing a state in which light is reflected on the windshield is displayed by the image processing program on the driver 402 recognized by the image recognition program. Again, the driver's face disappears with a natural look.
[0075] また、所定の画像処理は、たとえば、画像認識プログラムによって認識されたナン バープレート 403に対して、ナンバーを塗りつぶしてナンバープレート跡 503としてい る。 In addition, in the predetermined image processing, for example, the number plate 403 recognized by the image recognition program is filled with a number to form a license plate mark 503.
[0076] このように、画像処理を施された対向車両 501は、利用者などを特定する個人情報 を適切に保護しており、画像処理を施された画像データ 500を保存することで、車載 装置 300の利用者は、所望の車両を含む画像データ 500を適切に収集することがで きる。 As described above, the oncoming vehicle 501 that has been subjected to image processing appropriately protects personal information that identifies a user or the like, and stores the image data 500 that has been subjected to image processing, so The user of the device 300 can appropriately collect the image data 500 including the desired vehicle.
[0077] また、図 5の説明では説明を省略したが、画像認識プログラムによって、対向車両 4 01とは異なる他の車両を認識した場合は、ガードレールや道路などの背景画像を他 の車両に重ねて、対向車両 501のみを含む画像データ 500となるようにしてもょ 、。 [0077] Although the description is omitted in the description of FIG. 5, when other vehicles different from the oncoming vehicle 401 are recognized by the image recognition program, background images such as guardrails and roads are superimposed on the other vehicles. The image data 500 including only the oncoming vehicle 501 may be obtained.
[0078] (車載装置 300の処理の内容) [0078] (Processing content of in-vehicle device 300)
つぎに、図 6を用いて、本実施例に力かる車載装置 300の処理の内容について説 明する。図 6は、本実施例に力かる車載装置の処理の内容を示すフローチャートであ る。図 6のフローチャートにおいて、まず、各種センサ 316によって、対向車両が接近 してきたか否かを判断する (ステップ S601)。対向車両の接近は、たとえば、自車に 対して所定の距離以内に対向車両が位置することを検出する構成でもよい。 Next, the contents of processing of the in-vehicle device 300, which is useful for the present embodiment, will be described with reference to FIG. FIG. 6 is a flowchart showing the contents of the processing of the in-vehicle device that works on the present embodiment. In the flowchart of FIG. 6, first, it is determined by the various sensors 316 whether an oncoming vehicle has approached (step S601). For example, the approach of the oncoming vehicle may be configured to detect that the oncoming vehicle is located within a predetermined distance from the own vehicle.
[0079] より具体的には、たとえば、道路上の中央線を認識することによって対向車線を認 識し、対向車線内で自車と逆方向のベクトルを持つ車両を対向車両としてもよい。 [0079] More specifically, for example, the oncoming lane may be recognized by recognizing the center line on the road, and a vehicle having a vector in the opposite direction to the own vehicle in the oncoming lane may be used as the oncoming vehicle.
[0080] ステップ S601において、対向車両が接近するのを待って、接近した場合 (ステップ
S601 :Yes)は、 CPU301によって、各種センサ 316の出力値を用いて、ステップ S6 01において接近してきた対向車両の相対速度を算出する (ステップ S602)。 [0080] In step S601, waiting for the oncoming vehicle to approach and approaching (step In S601: Yes, the CPU 301 calculates the relative speed of the oncoming vehicle approaching in step S601 using the output values of the various sensors 316 (step S602).
[0081] つぎに、 CPU301によって、ステップ S602において算出された相対速度に応じて 、対向車両を撮像できるように、対向車両をカメラ 313の駆動部を制御して流し撮り する(ステップ S603)。 Next, the oncoming vehicle is shot by controlling the driving unit of the camera 313 so that the oncoming vehicle can be imaged by the CPU 301 in accordance with the relative speed calculated in step S602 (step S603).
[0082] そして、 CPU301によって、ステップ S603において撮像された画像データを画像 認識することで対向車両のナンバープレートを検出し (ステップ S604)、画像処理す ることで画像データ力も検出したナンバープレートを削除する (ステップ S605)。ナン バープレートの削除は、たとえば、ナンバーを判別不可能に塗りつぶす構成でもよい [0082] Then, the CPU 301 detects the license plate of the oncoming vehicle by recognizing the image data captured in step S603 (step S604), and deletes the license plate that also detected the image data force by performing image processing. (Step S605). For example, the number plate may be deleted so that the number is painted indefinitely.
[0083] つぎに、 CPU301によって、ステップ S603において撮像された画像データを画像 認識することで対向車両の搭乗者を検出し (ステップ S606)、画像処理することで画 像データから検出した搭乗者に光反射画像を重ね書きする (ステップ S607)。 [0083] Next, the CPU 301 detects an oncoming vehicle occupant by recognizing the image data captured in step S603 (step S606), and performs image processing to detect the occupant detected from the image data. Overwrite the light reflection image (step S607).
[0084] そして、 CPU301によって、ステップ S603において撮像された画像データを画像 認識することで、画像データに対向車両以外の他の車両が入っている力否かを判断 する(ステップ S 608)。 [0084] Then, the CPU 301 recognizes whether the image data picked up in step S603 is image-recognized, thereby determining whether or not there is a force other than the oncoming vehicle in the image data (step S608).
[0085] ステップ S608において、他の車両が入っている場合 (ステップ S608 : Yes)は、 CP U301によって、画像処理することでステップ S608において判断された他の車両に 背景画像を重ね書きする (ステップ S609)。 [0085] In step S608, if there is another vehicle (step S608: Yes), the CPU 301 superimposes the background image on the other vehicle determined in step S608 by performing image processing (step S608: Yes). S609).
[0086] また、ステップ S608において、他の車両が入っていない場合 (ステップ S608 : No) は、ステップ S 610へ移行する。 In step S608, if there is no other vehicle (step S608: No), the process proceeds to step S610.
[0087] そして、 CPU301によって、ステップ S603において撮像された画像データを画像 認識することで対向車両が所定の車種カゝ否かを判断する (ステップ S610)。所定の 車種は、複数であってもよぐスポーツカーなどのカテゴリーを定める情報でもよい。 [0087] Then, the CPU 301 determines whether or not the oncoming vehicle is a predetermined vehicle type by recognizing the image data captured in step S603 (step S610). The predetermined vehicle type may be information that defines a category such as a plurality of sports cars.
[0088] 具体的には、たとえば、車種の判定は、あら力じめ登録された、利用者の好みなど 所定の車種の画像とマッチングをおこなう構成でもよい。また、タイヤの直径や間隔な どカゝら車種を判定することとしてもよぐ具体的には、たとえば、タイヤの直径が大きく 間隔も大き 、場合はトラック、タイヤの直径が大き 、が間隔が狭 、場合はスポーツ力
一、タイヤの直径が小さく間隔も狭い場合は軽自動車と判定してもよい。あるいは、対 向車両の外形力 ワンボックスカー、セダン、ジープなどの形状や色力 車種を判定 したり、車体に付記されて ヽる文字を認識する構成でもよ ヽ。 Specifically, for example, the vehicle type may be determined by matching with an image of a predetermined vehicle type such as a user preference that has been registered in advance. More specifically, the vehicle type such as the tire diameter and interval may be determined. For example, the tire diameter is large and the interval is large. In this case, the track and tire diameter are large. Narrow, if sports First, when the tire diameter is small and the interval is narrow, it may be determined as a light vehicle. Alternatively, the external force of the opposite vehicle may be configured to determine the shape or color of a one-box car, sedan, jeep, etc., or to recognize a character that is added to the vehicle body.
[0089] ステップ S610において、所定の車種だった場合 (ステップ S610 : Yes)は、 CPU3 01によって、ステップ S605、ステップ S607やステップ S609において画像処理され た画像データを記録して (ステップ S611)、一連の処理を終了する。 [0089] In step S610, if the vehicle is a predetermined vehicle type (step S610: Yes), the CPU 301 records the image data processed in steps S605, S607, and S609 (step S611), Terminate the process.
[0090] また、ステップ S610において、所定の車種でなかった場合 (ステップ S610 : No)は 、そのまま一連の処理を終了する。なお、図 6のフローチャートでは説明を省略したが 、所定の車種でな力つた場合 (ステップ S610 : No)は、画像データを削除することと してちよい。 [0090] If the vehicle is not a predetermined vehicle type in step S610 (step S610: No), the series of processing ends as it is. Although the description is omitted in the flowchart of FIG. 6, if the power of the predetermined vehicle type is strong (step S610: No), the image data may be deleted.
[0091] なお、図 6のフローチャートで説明した、ステップ S604〜ステップ S610における画 像認識および画像処理の順序は、これに限るものではない。具体的には、たとえば、 ナンバープレートに関する画像認識および画像処理の前に、搭乗者に関する画像 認識および画像処理をおこなうこととしてもよい。あるいは、最初に所定の車種力否か の判断をおこう構成などでもよ 、。 Note that the order of image recognition and image processing in steps S604 to S610 described in the flowchart of FIG. 6 is not limited to this. Specifically, for example, image recognition and image processing related to a passenger may be performed before image recognition and image processing related to a license plate. Alternatively, it may be configured to first determine whether or not a given vehicle has power.
[0092] 以上説明したように、本実施例によれば、自車に接近した対向車両を撮像すること ができるため、利用者はカメラを操作しなくても画像データを収集することができ、特 に運転者は、運転中に撮像したい対向車両を注視することなく安全運転を図ることが できる。 [0092] As described above, according to the present embodiment, it is possible to capture an oncoming vehicle approaching the host vehicle, so that the user can collect image data without operating the camera. In particular, the driver can drive safely without gazing at the oncoming vehicle that he wants to capture while driving.
[0093] また、自車に接近した対向車両の相対速度に応じてカメラの駆動部を駆動させて 流し撮りができるため、ぶれることなく対向車両を撮像することができる。また、ナンパ 一プレートや搭乗者を認識して、判別不可能な画像処理を施すことができるため、適 切な個人情報の保護を図ることができる。 [0093] Furthermore, since the panning can be performed by driving the camera drive unit according to the relative speed of the oncoming vehicle approaching the host vehicle, the oncoming vehicle can be imaged without blurring. In addition, since it is possible to recognize the pick-up plate and the passenger and perform image processing that cannot be distinguished, appropriate personal information can be protected.
[0094] くわえて、自車に接近した対向車両の相対速度に応じてカメラのシャッタースピード を変更させて流し撮りをおこなう構成としてもよい。具体的には、たとえば、シャッター スピードの変更は、対向車両の相対速度が速い場合はシャッタースピードを速くして 、対向車両の相対速度が遅 、場合はシャッタースピードを遅くすることとしてもよ!、。 このようにすれば、対向車両がぶれることなぐ背景のみをぶれさせることで、臨場感
のある画像データを取得することができる。 [0094] In addition, the panning may be performed by changing the shutter speed of the camera according to the relative speed of the oncoming vehicle approaching the host vehicle. Specifically, for example, the shutter speed can be changed by increasing the shutter speed when the relative speed of the oncoming vehicle is high and decreasing the shutter speed when the relative speed of the oncoming vehicle is slow !, . In this way, only the background that the oncoming vehicle does not shake is blurred, so It is possible to acquire certain image data.
[0095] また、所定の車種の画像データを記録することができるため、利用者が所望する車 種以外は保存せずに、画像データ収集の最適化を図ることができる。 [0095] Further, since image data of a predetermined vehicle type can be recorded, it is possible to optimize image data collection without storing anything other than the vehicle type desired by the user.
[0096] また、上述した説明では、車両に搭載して対向車両の画像データを撮像する構成 としたが、車両に搭載しないで、撮像対象車両の画像データを撮像する構成としても よい。具体的には、たとえば、定点カメラなどによって、撮像対象車両の画像データ を撮像し、収集することとしてもよい。定点カメラであれば、車載する際に振動対策な どを施す必要がな 、ため、安価なシステムを提供することができる。 [0096] In the above description, the configuration is such that the image data of the oncoming vehicle is mounted on the vehicle, but the configuration may be such that the image data of the imaging target vehicle is captured without being mounted on the vehicle. Specifically, for example, image data of the imaging target vehicle may be captured and collected by a fixed point camera or the like. With a fixed-point camera, it is not necessary to take measures such as vibration when mounting on-vehicle, so an inexpensive system can be provided.
[0097] また、本実施例では説明を省略したが、撮像した対向車両の画像をアルバムとして 表示することとしてもよい。具体的には、たとえば、アルバムは、撮像した画像から対 向車両だけを選択的に抽出してまとめておくこととしてもよい。このようにアルバムとし てコレクションすることで、後ですれ違った車を確認したり、車種当てクイズに利用し たり、車両の買い換え時に参考にしたり、珍しい車種もすれ違えば確実に記録できる [0097] Although explanation is omitted in the present embodiment, the captured image of the oncoming vehicle may be displayed as an album. Specifically, for example, in an album, only the oncoming vehicles may be selectively extracted from the captured images and collected. By collecting them as an album in this way, you can check different cars later, use them for car model quizzes, use them as a reference when replacing vehicles, or record rare car models without fail.
[0098] また、遮蔽物などによって、対向車両の一部が撮像できな力つた場合は、一般的に 車両が左右対称であることを利用して、補間処理をおこなうこととしてもよい。さらに、 車両の後方を撮像するバックカメラを利用して、対向車両の前方、側方および後方の 画像をあわせて撮像することとしてもよい。このようにすれば、的確に車両の構造を理 解することができ、車両全体の 3Dモデルを作成することも可能となる。 [0098] In addition, when a part of the oncoming vehicle cannot be picked up due to a shield or the like, the interpolation process may be performed by using the fact that the vehicle is generally symmetrical. Furthermore, it is also possible to capture images of the front, side, and rear of the oncoming vehicle using a back camera that captures the rear of the vehicle. In this way, the vehicle structure can be understood accurately and a 3D model of the entire vehicle can be created.
[0099] また、対向車両の情報を記録する構成を設けてもよい。具体的には、たとえば、対 向車両の情報は、渋滞の先頭車両の画像を記録しておき、渋滞の中にいる車両に 先頭車両の画像や事故などの情報を送信することとしてもよい。あるいは、渋滞をし ていた場合に、その後、単独で走行している対向車両とすれ違った際に渋滞してい る旨の情報を送信する構成でもよい。このようにすれば、情報を受け取った車両の利 用者は、渋滞の原因が事故なの力信号待ちであるの力など判断できることとなる。 [0099] In addition, a configuration for recording information of oncoming vehicles may be provided. Specifically, for example, as the information on the oncoming vehicle, an image of the leading vehicle in the traffic jam may be recorded, and an image of the leading vehicle or information such as an accident may be transmitted to the vehicle in the traffic jam. Alternatively, when there is a traffic jam, a configuration may be used in which information indicating that the traffic jam has occurred is transmitted when the vehicle passes an oncoming vehicle that is traveling alone. In this way, the vehicle user who has received the information can determine the power of waiting for a force signal because the cause of the traffic jam is an accident.
[0100] また、対向車両の情報は、対向車両の台数やトラックなどの車種判定の結果などの 情報を含むこととしてもよぐこの情報によって、道路の混雑状況や、トラックなどの危 険が予想される車両が多いかなどを判断することができる。また、混雑の際には、対
向車両の撮像をおこなわないようにすれば、多くの対向車両を検知して、写真を撮り すぎてしまうことを防ぐことができる。 [0100] In addition, the information on oncoming vehicles may include information such as the number of oncoming vehicles and the results of vehicle type judgments such as trucks. This information can predict road congestion and dangers such as trucks. It can be judged whether there are many vehicles to be used. When crowded, If the opposite vehicle is not imaged, it is possible to prevent many oncoming vehicles from being detected and taking too many pictures.
[0101] また、本発明では、撮像する対象を車両としたが、車両に限ることはない。たとえば [0101] In the present invention, the object to be imaged is a vehicle, but is not limited to a vehicle. For example
、その他移動体として飛行機や電車などを撮像したり、移動体以外の建造物などを 撮像することとしてもよい。このようにすることで、幅広く利用者の所望する被写体の 画像データを収集することができる。 In addition, it may be possible to take images of airplanes, trains, etc. as moving objects, or images of buildings other than moving objects. In this way, it is possible to collect image data of a subject desired by a wide range of users.
[0102] なお、本実施の形態で説明したデータ記録方法は、あら力じめ用意されたプロダラ ムをパーソナル 'コンピュータやワークステーションなどのコンピュータで実行すること により実現することができる。このプログラムは、ハードディスク、フレキシブルディスク 、 CD-ROM, MO、 DVDなどのコンピュータで読み取り可能な記録媒体に記録さ れ、コンピュータによって記録媒体力も読み出されることによって実行される。またこ のプログラムは、インターネットなどのネットワークを介して配布することが可能な伝送 媒体であってもよい。
Note that the data recording method described in the present embodiment can be realized by executing a prepared program on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by reading the recording medium force by the computer. Further, this program may be a transmission medium that can be distributed via a network such as the Internet.
Claims
[1] 車両の周辺に位置する撮像対象となる撮像対象車両を検出する検出手段と、 前記検出手段によって検出された撮像対象車両を撮像する撮像手段と、 前記撮像手段によって撮像された撮像対象車両を含む画像データにおける特定 部位を認識する画像認識手段と、 [1] A detection unit that detects an imaging target vehicle that is an imaging target located in the vicinity of the vehicle, an imaging unit that images the imaging target vehicle detected by the detection unit, and an imaging target vehicle imaged by the imaging unit Image recognition means for recognizing a specific part in image data including
前記画像認識手段によって認識された特定部位に所定の画像処理を施す画像処 理手段と、 Image processing means for performing predetermined image processing on the specific part recognized by the image recognition means;
前記画像処理手段によって画像処理が施された画像データを記録する記録手段と を備えることを特徴とするデータ記録装置。 A data recording apparatus comprising: recording means for recording image data subjected to image processing by the image processing means.
[2] 前記検出手段は、 [2] The detection means includes
前記車両と、前記撮像対象車両との位置関係を検出し、 Detecting a positional relationship between the vehicle and the imaging target vehicle;
前記撮像手段は、 The imaging means includes
前記検出手段によって検出された位置関係が所定の距離となった場合に、前記撮 像対象車両を撮像することを特徴とする請求項 1に記載のデータ記録装置。 2. The data recording apparatus according to claim 1, wherein the imaging target vehicle is imaged when the positional relationship detected by the detection means reaches a predetermined distance.
[3] 前記検出手段は、 [3] The detection means includes
前記撮像対象車両の前記車両に対する相対速度を検出し、 Detecting a relative speed of the vehicle to be imaged with respect to the vehicle;
前記撮像手段は、 The imaging means includes
前記検出手段によって検出された相対速度に応じて前記撮像対象車両を撮像す るよう駆動させる駆動部を有することを特徴とする請求項 1に記載のデータ記録装置 2. The data recording apparatus according to claim 1, further comprising a drive unit that drives the imaging target vehicle to image in accordance with a relative speed detected by the detection unit.
[4] 前記画像認識手段は、 [4] The image recognition means includes
前記画像データにおける前記撮像対象車両の搭乗者を認識し、 Recognizing a passenger of the imaging target vehicle in the image data,
前記画像処理手段は、 The image processing means includes
前記画像認識手段によって認識された搭乗者を判別不可能に画像処理を施すこと を特徴とする請求項 1に記載のデータ記録装置。 2. The data recording apparatus according to claim 1, wherein image processing is performed so that a passenger recognized by the image recognition means cannot be identified.
[5] 前記画像認識手段は、 [5] The image recognition means includes:
前記画像データにおける前記撮像対象車両のナンバープレートを認識し、
前記画像処理手段は、 Recognizing the license plate of the imaging target vehicle in the image data, The image processing means includes
前記画像認識手段によって認識されたナンバープレートを判別不可能に画像処理 を施すことを特徴とする請求項 1に記載のデータ記録装置。 2. The data recording apparatus according to claim 1, wherein the number plate recognized by the image recognition means is subjected to image processing so that the license plate cannot be distinguished.
[6] 前記画像認識手段は、 [6] The image recognition means includes:
前記画像データにおける前記撮像対象車両とは異なる他の車両を認識し、 前記画像処理手段は、 Recognizing another vehicle different from the imaging target vehicle in the image data, the image processing means,
前記画像認識手段によって認識された他の車両に背景となる背景画像を重ねるこ とによって、当該他の車両を前記画像データから消すことを特徴とする請求項 1に記 載のデータ記録装置。 The data recording apparatus according to claim 1, wherein the other vehicle is erased from the image data by superimposing a background image as a background on the other vehicle recognized by the image recognition means.
[7] 前記画像認識手段は、 [7] The image recognition means includes
前記画像データにおける前記撮像対象車両の車種を認識し、 Recognizing the vehicle type of the imaging target vehicle in the image data;
前記画像処理手段は、 The image processing means includes
前記画像認識手段によって認識された車種が、所定の車種であった場合に画像処 理を施すことを特徴とする請求項 1に記載のデータ記録装置。 2. The data recording apparatus according to claim 1, wherein image processing is performed when the vehicle type recognized by the image recognition unit is a predetermined vehicle type.
[8] 車両の周辺に位置する撮像対象となる撮像対象車両を検出する検出工程と、 前記検出工程によって検出された撮像対象車両を撮像する撮像工程と、 前記撮像工程によって撮像された撮像対象車両を含む画像データにおける特定 部位を認識する画像認識工程と、 [8] A detection step of detecting an imaging target vehicle that is an imaging target located in the vicinity of the vehicle, an imaging step of imaging the imaging target vehicle detected by the detection step, and an imaging target vehicle imaged by the imaging step An image recognition process for recognizing a specific part in image data including
前記画像認識工程によって認識された特定部位に所定の画像処理を施す画像処 理工程と、 An image processing step of performing predetermined image processing on the specific part recognized by the image recognition step;
前記画像処理工程によって画像処理が施された画像データを記録する記録工程と を含むことを特徴とするデータ記録方法。 And a recording step of recording the image data subjected to the image processing by the image processing step.
[9] 請求項 8に記載のデータ記録方法をコンピュータに実行させることを特徴とするデ ータ記録プログラム。 [9] A data recording program causing a computer to execute the data recording method according to claim 8.
[10] 請求項 9に記載のデータ記録プログラムを記録したことを特徴とするコンピュータに 読み取り可能な記録媒体。
[10] A computer-readable recording medium on which the data recording program according to claim 9 is recorded.
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PCT/JP2006/318979 WO2008038333A1 (en) | 2006-09-25 | 2006-09-25 | Data recording device, data recording method, data recording program, and computer readable recording medium |
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