WO2008102764A1 - 車両用周辺監視装置及び車両用周辺監視方法 - Google Patents

車両用周辺監視装置及び車両用周辺監視方法 Download PDF

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Publication number
WO2008102764A1
WO2008102764A1 PCT/JP2008/052741 JP2008052741W WO2008102764A1 WO 2008102764 A1 WO2008102764 A1 WO 2008102764A1 JP 2008052741 W JP2008052741 W JP 2008052741W WO 2008102764 A1 WO2008102764 A1 WO 2008102764A1
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WO
WIPO (PCT)
Prior art keywords
picking
image
environment monitoring
vehicle
image picking
Prior art date
Application number
PCT/JP2008/052741
Other languages
English (en)
French (fr)
Inventor
Koji Sato
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Priority to DE112008000089T priority Critical patent/DE112008000089T5/de
Priority to CN2008800048982A priority patent/CN101611632B/zh
Priority to US12/515,683 priority patent/US20100060735A1/en
Priority to KR1020097016438A priority patent/KR101132099B1/ko
Publication of WO2008102764A1 publication Critical patent/WO2008102764A1/ja

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • 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
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/08—Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots, e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors
    • 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
    • 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
    • B60R1/27—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 providing all-round vision, e.g. using omnidirectional cameras
    • 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
    • B60R1/31—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 providing stereoscopic vision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
    • 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
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
    • 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
    • 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
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • 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
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
    • 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
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
    • 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
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Studio Devices (AREA)

Abstract

  　２以上の撮像手段の撮像タイミングの非同期を補償して精度の高い情報を生成すること。本発明による車両用周辺監視装置は、車両の外部を第１撮像領域で所定周期毎に撮像する第１撮像手段と、前記第１撮像領域の少なくとも一部と重複する第２撮像領域で、車両の外部を所定周期毎に撮像する第２撮像手段と、前記第１及び第２撮像手段の双方の撮像画像から、前記第１撮像手段の撮像タイミングと第２撮像手段の撮像タイミングとの間のずれが補正された所定情報を生成する情報生成手段とを備えることを特徴とする。
PCT/JP2008/052741 2007-02-23 2008-02-19 車両用周辺監視装置及び車両用周辺監視方法 WO2008102764A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112008000089T DE112008000089T5 (de) 2007-02-23 2008-02-19 Vorrichtung und Verfahren zum Überwachen von Umgebung eines Fahrzeugs
CN2008800048982A CN101611632B (zh) 2007-02-23 2008-02-19 车辆用周边监视装置及车辆用周边监视方法
US12/515,683 US20100060735A1 (en) 2007-02-23 2008-02-19 Device and method of monitoring surroundings of a vehicle
KR1020097016438A KR101132099B1 (ko) 2007-02-23 2008-02-19 차량용 주변 감시 장치 및 차량용 주변 감시 방법

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-044441 2007-02-23
JP2007044441A JP4748082B2 (ja) 2007-02-23 2007-02-23 車両用周辺監視装置及び車両用周辺監視方法

Publications (1)

Publication Number Publication Date
WO2008102764A1 true WO2008102764A1 (ja) 2008-08-28

Family

ID=39710041

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/052741 WO2008102764A1 (ja) 2007-02-23 2008-02-19 車両用周辺監視装置及び車両用周辺監視方法

Country Status (6)

Country Link
US (1) US20100060735A1 (ja)
JP (1) JP4748082B2 (ja)
KR (1) KR101132099B1 (ja)
CN (1) CN101611632B (ja)
DE (1) DE112008000089T5 (ja)
WO (1) WO2008102764A1 (ja)

Cited By (3)

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JP2015165628A (ja) * 2014-03-03 2015-09-17 Smk株式会社 画像処理システム
US10375376B2 (en) 2015-11-17 2019-08-06 Kabushiki Kaisha Toshiba Pose estimation apparatus and vacuum cleaner system
WO2023013108A1 (ja) * 2021-08-02 2023-02-09 日立Astemo株式会社 マルチカメラ装置

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JP4412380B2 (ja) * 2007-10-02 2010-02-10 アイシン・エィ・ダブリュ株式会社 運転支援装置、運転支援方法及びコンピュータプログラム
JP5068779B2 (ja) * 2009-02-27 2012-11-07 現代自動車株式会社 車両周囲俯瞰画像表示装置及び方法
JP5479956B2 (ja) * 2010-03-10 2014-04-23 クラリオン株式会社 車両用周囲監視装置
JP5090496B2 (ja) * 2010-04-12 2012-12-05 住友重機械工業株式会社 画像生成装置及び操作支援システム
TWI401175B (zh) * 2010-06-08 2013-07-11 Automotive Res & Testing Ct Dual vision front vehicle safety warning device and method thereof
US9088725B2 (en) 2011-03-08 2015-07-21 Renesas Electronics Corporation Image pickup apparatus
JP5849724B2 (ja) * 2012-01-25 2016-02-03 富士通株式会社 映像取得装置及び方法
JP6182866B2 (ja) * 2012-03-21 2017-08-23 株式会社リコー 校正装置、距離計測装置及び車両
US20150077560A1 (en) * 2013-03-22 2015-03-19 GM Global Technology Operations LLC Front curb viewing system based upon dual cameras
KR101670847B1 (ko) * 2014-04-04 2016-11-09 주식회사 와이즈오토모티브 차량 주변 이미지 생성 장치 및 방법
JP6458384B2 (ja) 2014-07-24 2019-01-30 株式会社デンソー 車線検出装置および車線検出方法
US20160031370A1 (en) * 2014-07-29 2016-02-04 Magna Electronics Inc. Vehicle vision system with video switching
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JP6540395B2 (ja) * 2015-09-04 2019-07-10 株式会社ソシオネクスト 画像処理方法および画像処理プログラム
WO2018061882A1 (ja) * 2016-09-28 2018-04-05 京セラ株式会社 カメラモジュール、セレクタ、コントローラ、カメラモニタシステム及び移動体
JP6604297B2 (ja) * 2016-10-03 2019-11-13 株式会社デンソー 撮影装置
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KR102479492B1 (ko) * 2018-01-08 2022-12-20 삼성전자주식회사 차량 주변의 이미지를 제공하는 전자 장치 및 방법
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JP2020205498A (ja) 2019-06-14 2020-12-24 マツダ株式会社 外部環境認識装置
JPWO2022137324A1 (ja) * 2020-12-22 2022-06-30
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US10375376B2 (en) 2015-11-17 2019-08-06 Kabushiki Kaisha Toshiba Pose estimation apparatus and vacuum cleaner system
WO2023013108A1 (ja) * 2021-08-02 2023-02-09 日立Astemo株式会社 マルチカメラ装置

Also Published As

Publication number Publication date
US20100060735A1 (en) 2010-03-11
KR101132099B1 (ko) 2012-04-04
DE112008000089T5 (de) 2009-12-03
CN101611632A (zh) 2009-12-23
CN101611632B (zh) 2011-11-23
JP4748082B2 (ja) 2011-08-17
JP2008211373A (ja) 2008-09-11
KR20090101480A (ko) 2009-09-28

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