WO2009066521A1 - 画像処理装置及び方法、運転支援システム、車両 - Google Patents

画像処理装置及び方法、運転支援システム、車両 Download PDF

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Publication number
WO2009066521A1
WO2009066521A1 PCT/JP2008/068537 JP2008068537W WO2009066521A1 WO 2009066521 A1 WO2009066521 A1 WO 2009066521A1 JP 2008068537 W JP2008068537 W JP 2008068537W WO 2009066521 A1 WO2009066521 A1 WO 2009066521A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
corrected image
image
distortion
image processing
Prior art date
Application number
PCT/JP2008/068537
Other languages
English (en)
French (fr)
Inventor
Hitoshi Hongo
Original Assignee
Sanyo Electric Co., Ltd.
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 Sanyo Electric Co., Ltd. filed Critical Sanyo Electric Co., Ltd.
Priority to EP08852285A priority Critical patent/EP2210776A4/en
Priority to CN200880116328A priority patent/CN101861255A/zh
Priority to US12/739,889 priority patent/US20100245579A1/en
Publication of WO2009066521A1 publication Critical patent/WO2009066521A1/ja

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • 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
    • B60R1/06—Rear-view mirror arrangements mounted on vehicle exterior
    • B60R1/062—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position
    • B60R1/07—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position by electrically powered actuators
    • B60R1/074—Rear-view mirror arrangements mounted on vehicle exterior with remote control for adjusting position by electrically powered actuators for retracting the mirror arrangements to a non-use position alongside 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
    • B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
    • B60R2001/1253—Mirror assemblies combined with other articles, e.g. clocks with cameras, video cameras or video screens
    • 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
    • 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
    • B60R2300/802—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 monitoring and displaying vehicle exterior blind spot views

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Rear-View Mirror Devices That Are Mounted On The Exterior Of The Vehicle (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

　ドアミラーの配置状態に拘らず車両の前後輪及び車両側面の下端（底部）が視野内に収まるように、カメラをドアミラーのミラーケース内に下方を向けて固定する。カメラが取得した原画像にレンズ歪み補正を施した後、歪み補正画像に対してエッジ抽出処理を施すことにより歪み補正画像上における車両側面の下端を検出し、その下端が伸びる方向（１２１）を歪み補正画像上の車両方向と推定する。この推定した車両方向が画像上の垂直方向を向くように歪み補正画像を補正することで方向補正画像を生成し、方向補正画像の一部を切り出した画像を表示装置に表示させる。
PCT/JP2008/068537 2007-11-21 2008-10-14 画像処理装置及び方法、運転支援システム、車両 WO2009066521A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08852285A EP2210776A4 (en) 2007-11-21 2008-10-14 IMAGE PROCESSING DEVICE AND METHOD, POWER STEERING SYSTEM AND VEHICLE
CN200880116328A CN101861255A (zh) 2007-11-21 2008-10-14 图像处理装置和方法、驾驶支持系统、车辆
US12/739,889 US20100245579A1 (en) 2007-11-21 2009-02-02 Image processing device and method, driving assist system, and vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007301549A JP2009126270A (ja) 2007-11-21 2007-11-21 画像処理装置及び方法、運転支援システム、車両
JP2007-301549 2007-11-21

Publications (1)

Publication Number Publication Date
WO2009066521A1 true WO2009066521A1 (ja) 2009-05-28

Family

ID=40667349

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/068537 WO2009066521A1 (ja) 2007-11-21 2008-10-14 画像処理装置及び方法、運転支援システム、車両

Country Status (5)

Country Link
US (1) US20100245579A1 (ja)
EP (1) EP2210776A4 (ja)
JP (1) JP2009126270A (ja)
CN (1) CN101861255A (ja)
WO (1) WO2009066521A1 (ja)

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DE102010042276A1 (de) 2010-10-11 2012-04-12 Robert Bosch Gmbh Sensor, Justageverfahren und Vermessungsverfahren für einen Sensor
DE102010042248A1 (de) * 2010-10-11 2012-04-12 Robert Bosch Gmbh Verfahren und Vorrichtung zur optischen Darstellung einer Umgebung eines Fahrzeugs
GB201118623D0 (en) * 2011-10-27 2011-12-07 Land Rover Uk Ltd Wading apparatus and method
DE102011088139B4 (de) 2011-12-09 2021-10-07 Robert Bosch Gmbh Ansteuerungsvorrichtung für eine Fahrzeugumgebungsüberwachungseinrichtung und ein Verfahren zum Initiieren einer Kalibrierung einer Fahrzeugumgebungsüberwachungseinrichtung
MY172967A (en) * 2012-02-23 2019-12-16 Nissan Motor Three-dimensional object detection device
RU2636121C2 (ru) * 2012-03-02 2017-11-20 Ниссан Мотор Ко., Лтд. Устройство обнаружения трехмерных объектов
US9754172B2 (en) * 2012-03-02 2017-09-05 Nissan Motor Co., Ltd. Three-dimenisional object detection device
EP3217321B1 (en) * 2013-07-31 2019-08-28 Honda Motor Co., Ltd. Sign information output apparatus
KR101666959B1 (ko) * 2015-03-25 2016-10-18 ㈜베이다스 카메라로부터 획득한 영상에 대한 자동보정기능을 구비한 영상처리장치 및 그 방법
CN112026638A (zh) * 2015-04-10 2020-12-04 麦克赛尔株式会社 车辆
DE102016209927B4 (de) * 2016-06-06 2017-12-21 Mekra Lang Gmbh & Co. Kg Überwachungsvorrichtung für das Umfeld eines Fahrzeugs
US11104273B2 (en) * 2016-12-08 2021-08-31 Robert Bosch Gmbh Arrangement to prevent erroneous image orientation for rear view camera
JP2018111377A (ja) * 2017-01-11 2018-07-19 株式会社デンソーテン ドアの開度変化検出装置及びドアの開度変化検出方法
JP6439233B2 (ja) * 2017-03-31 2018-12-19 マツダ株式会社 車両用画像表示装置及び画像処理方法
JP6649914B2 (ja) * 2017-04-20 2020-02-19 株式会社Ｓｕｂａｒｕ 画像表示装置
CN107577988B (zh) * 2017-08-03 2020-05-26 东软集团股份有限公司 实现侧方车辆定位的方法、装置及存储介质、程序产品
CN108534747B (zh) * 2018-03-09 2021-03-16 深圳市豪恩汽车电子装备股份有限公司 车载摄像头视野比例计算方法、系统及计算机可读载体
JP6742378B2 (ja) * 2018-09-11 2020-08-19 本田技研工業株式会社 車両制御装置および車両制御方法
DE102019110871A1 (de) * 2019-04-26 2020-10-29 Mekra Lang Gmbh & Co. Kg Sichtsystem für ein Fahrzeug

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05176323A (ja) 1991-12-24 1993-07-13 Matsushita Electric Works Ltd 画像歪み補正方式
JP2000016181A (ja) 1998-07-01 2000-01-18 Tokai Rika Co Ltd カメラ付ドアミラー及び車両周辺認識システム
JP2003165384A (ja) 2001-12-03 2003-06-10 Murakami Corp カメラ内蔵型アウター用バックミラー
JP2004194071A (ja) * 2002-12-12 2004-07-08 Matsushita Electric Ind Co Ltd 運転支援画像生成装置
JP2004306670A (ja) * 2003-04-02 2004-11-04 Toyota Motor Corp 車両用画像表示装置
JP2006202225A (ja) * 2005-01-24 2006-08-03 Sumitomo Electric Ind Ltd 事故検出装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11353565A (ja) * 1998-06-09 1999-12-24 Yazaki Corp 車両用衝突警報方法及び装置
EP1813477B1 (en) * 2004-10-29 2011-04-20 Panasonic Corporation Entertainment system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05176323A (ja) 1991-12-24 1993-07-13 Matsushita Electric Works Ltd 画像歪み補正方式
JP2000016181A (ja) 1998-07-01 2000-01-18 Tokai Rika Co Ltd カメラ付ドアミラー及び車両周辺認識システム
JP2003165384A (ja) 2001-12-03 2003-06-10 Murakami Corp カメラ内蔵型アウター用バックミラー
JP2004194071A (ja) * 2002-12-12 2004-07-08 Matsushita Electric Ind Co Ltd 運転支援画像生成装置
JP2004306670A (ja) * 2003-04-02 2004-11-04 Toyota Motor Corp 車両用画像表示装置
JP2006202225A (ja) * 2005-01-24 2006-08-03 Sumitomo Electric Ind Ltd 事故検出装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2210776A4

Also Published As

Publication number Publication date
EP2210776A1 (en) 2010-07-28
EP2210776A4 (en) 2010-12-01
US20100245579A1 (en) 2010-09-30
CN101861255A (zh) 2010-10-13
JP2009126270A (ja) 2009-06-11

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