WO2010007960A1 - Système d'image vidéo de conversion de point de vue pour une caméra montée sur un véhicule et procédé d'acquisition d'image vidéo de conversion de point de vue - Google Patents

Système d'image vidéo de conversion de point de vue pour une caméra montée sur un véhicule et procédé d'acquisition d'image vidéo de conversion de point de vue Download PDF

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Publication number
WO2010007960A1
WO2010007960A1 PCT/JP2009/062661 JP2009062661W WO2010007960A1 WO 2010007960 A1 WO2010007960 A1 WO 2010007960A1 JP 2009062661 W JP2009062661 W JP 2009062661W WO 2010007960 A1 WO2010007960 A1 WO 2010007960A1
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WIPO (PCT)
Prior art keywords
viewpoint conversion
vehicle
image
viewpoint
input
Prior art date
Application number
PCT/JP2009/062661
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English (en)
Japanese (ja)
Inventor
義隆 奥山
Original Assignee
クラリオン株式会社
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Publication date
Application filed by クラリオン株式会社 filed Critical クラリオン株式会社
Priority to JP2010520854A priority Critical patent/JPWO2010007960A1/ja
Publication of WO2010007960A1 publication Critical patent/WO2010007960A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/12—Panospheric to cylindrical image transformations
    • 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
    • B60R2300/101—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using cameras with adjustable capturing direction
    • 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
    • B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
    • B60R2300/406—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components using wireless transmission
    • 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
    • B60R2300/602—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 with an adjustable 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
    • B60R2300/60—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

Definitions

  • a customer mounts and fixes an in-vehicle camera on a vehicle, and a viewpoint conversion image is viewed by freely converting a viewpoint of an image acquired by the in-vehicle camera fixed on the vehicle while viewing a screen of a monitor device.
  • the present invention relates to a viewpoint conversion video system and a viewpoint conversion video acquisition method for a vehicle-mounted camera.
  • an in-vehicle camera is mounted on and fixed to a vehicle, the surroundings of the vehicle are photographed by the in-vehicle camera, a viewpoint conversion image is displayed on the screen of the monitor device by converting the viewpoint of the captured image of the surroundings of the vehicle.
  • a system has been developed.
  • This viewpoint conversion video system presents a viewpoint conversion image around the vehicle to the screen of the monitor device to allow the driver to recognize and detect the approach and presence of obstacles, and to provide services such as driving safety Used.
  • a calibration process is performed in order to precisely measure the distance to an obstacle or to superimpose images acquired by a plurality of in-vehicle cameras.
  • the calibration process refers to a process of acquiring a parameter for correcting an attachment error of the in-vehicle camera to the vehicle.
  • This calibration process is performed on each vehicle before shipment from the factory, as in Patent Document 1, for example.
  • a reference subject including a so-called reference point (or grid point) whose spatial coordinate position is known is photographed by the on-vehicle camera, and then the third order of the on-vehicle camera is obtained based on the image obtained by this photographing.
  • the attitude to the original space is adjusted.
  • the 3D of the in-vehicle camera is adjusted so that the adjustment marker imitating the contour of the rear bumper matches the raw image actually acquired by the in-vehicle camera attached and fixed to the vehicle body.
  • the parameter that means the attitude to the space is adjusted.
  • the parameter obtained by this adjustment is memorize
  • the calibration process has a problem that a considerable space is required for photographing the reference subject, which takes time and effort.
  • an in-vehicle camera 2 is installed at the rear of the vehicle 1 as shown in FIG.
  • the imaging subject 3 is imaged, a reference subject image 5 ′ including the known reference point 4 in FIG. 2 is acquired by this imaging, and then a calibration process is performed based on the reference subject image 5 ′, so that the vehicle is mounted on the vehicle.
  • Camera viewpoint conversion video systems are also known. That is, in the viewpoint conversion video system of the in-vehicle camera, the reference point of the reference subject image 5 ′ is obtained by performing the image recognition process on the reference subject image 5 ′ of FIG.
  • the parameter indicating the attitude of the vehicle-mounted camera 2 with respect to the three-dimensional space is adjusted based on the three-dimensional coordinate of the reference point 4, and the parameter obtained by this adjustment is stored in the parameter storage unit (memory).
  • the viewpoint of the virtual camera 5 is determined, and the parameters of the virtual camera 5 are manipulated so that the attitude of the virtual camera 5 with respect to the three-dimensional space as shown in FIG. It is also known to adjust and acquire an appropriate viewpoint-converted image (overhead image) 6 from which distortion is removed as shown in FIG.
  • FIG. 5 shows an example in which the calibration process using the parameters of the virtual camera 5 is inappropriate.
  • reference numerals 7 and 8 denote image areas that cannot be acquired by the vehicle-mounted camera 2.
  • the attitude of the in-vehicle camera 2 with respect to the three-dimensional space includes the three-dimensional coordinate position of the in-vehicle camera 2, the tilt angle of the optical axis O of the in-vehicle camera 2 with respect to the horizontal and vertical planes, and the optical axis of the in-vehicle camera 2 It can be expressed using a rotation angle or the like.
  • the three-dimensional coordinate position of the vehicle-mounted camera 2 is represented by x, y, and z coordinates
  • the tilt angle of the optical axis O of the vehicle-mounted camera 2 with respect to the horizontal plane is represented by the pitch angle ⁇ .
  • the tilt angle of the optical axis O with respect to the vertical plane is represented by the yaw angle ⁇
  • the rotation angle around the optical axis of the in-vehicle camera 2 is represented by the roll angle ⁇ . Therefore, the attitude of the in-vehicle camera 2 with respect to the three-dimensional space can be expressed using six parameters (x, y, z, ⁇ , ⁇ , ⁇ ).
  • the above-described six parameters (x, y, z, ⁇ , ⁇ , ⁇ ) of the vehicle-mounted camera 2 and the virtual camera 5 are used to generate a viewpoint conversion image (overhead image). Mapping data for generating a viewpoint converted image is generated using the six parameters.
  • this in-vehicle camera viewpoint conversion video system requires two steps of the calibration process for the in-vehicle camera (real camera) 2 and the calibration process for the virtual camera 5, so that adjustment is extremely troublesome.
  • An object of the present invention is to provide a viewpoint-converted video system and a viewpoint-converted video acquisition method for a vehicle-mounted camera that can be easily handled by a customer and that allows a customer to freely acquire a viewpoint-converted image without requiring calibration processing of the vehicle-mounted camera. There is.
  • the viewpoint conversion video system for an in-vehicle camera includes an in-vehicle camera that is attached and fixed to a vehicle, and a monitor device that displays an image.
  • this viewpoint conversion video system receives the raw image data from the in-vehicle camera and performs viewpoint conversion processing on the image data based on the mapping data for generating the viewpoint conversion image.
  • a viewpoint conversion processing unit that outputs the viewpoint-converted image data to the monitor device, a parameter input device that inputs a parameter for generating the mapping data, which means the position and orientation of the in-vehicle camera in the three-dimensional space;
  • the viewpoint conversion processing can be automatically performed only by inputting parameters. Can be handled easily by the customer.
  • the parameters for generating mapping data can be adjusted while viewing the viewpoint conversion image, which is easy for the customer to handle and the customer can freely convert the viewpoint conversion image. It can be acquired.
  • the viewpoint conversion video acquisition method of the in-vehicle camera according to the present invention is a monitor device that receives raw image data from an in-vehicle camera attached and fixed to a vehicle and performs viewpoint conversion processing to convert the viewpoint.
  • the viewpoint conversion processing unit that outputs to
  • the viewpoint conversion video acquisition method for the in-vehicle camera of the present invention includes the following first display step, input step, second display step, and determination step in order to achieve the above-described object.
  • the live camera acquired in real time based on the initial parameters that mean the position and orientation of the in-vehicle camera with respect to the three-dimensional space and that generates mapping data for generating a viewpoint-converted image.
  • a viewpoint conversion process is performed on the image data to display a viewpoint conversion image on the screen of the monitor device.
  • the viewpoint conversion image means the position and orientation of the vehicle-mounted camera with respect to the three-dimensional space and the mapping data is changed Enter the input parameters to generate.
  • the viewpoint conversion processing is performed on the image data acquired by the vehicle-mounted camera in real time based on the input parameters input in the input step, and the viewpoint conversion image is displayed on the screen of the monitor device.
  • the determination step it is determined whether or not the viewpoint conversion image displayed on the screen of the monitor device in the second display step is appropriate.
  • the parameter is stored in the parameter storage unit.
  • the input step can be re-executed.
  • the mapping data generation parameters can be adjusted while viewing the viewpoint conversion image. It is easy for the customer to handle and the customer can freely acquire the viewpoint conversion image.
  • a vehicle-mounted camera is attached to the rear part of a vehicle, and it is a schematic diagram which shows the imaging
  • the viewpoint conversion video system 10 includes a vehicle-mounted camera 11, a viewpoint conversion processing unit (hardware device) 12, and a parameter input device 13.
  • the in-vehicle camera 11 has a known structure and a wide-angle lens type.
  • the internal configuration of the viewpoint conversion processing unit 12 will be described later.
  • the parameter input device 13 for example, a wired remote control device is used, but a wireless remote control device may be used.
  • a customer purchases an assembly set for configuring a viewpoint conversion video system including a vehicle-mounted camera 11, a viewpoint conversion processing unit 12, a parameter input device 13 and the like from a dealer, It can be constructed by assembling.
  • FIG. 6 shows the electrical connection relationship of the viewpoint conversion video system 10.
  • reference numerals 15, 16, and 17 are connection cables, and 18 is an image display unit (display screen) of the monitor device 14.
  • FIG. 7 shows a state in which the vehicle-mounted camera 11 is attached and fixed to the rear portion 1A of the vehicle 1.
  • the in-vehicle camera 11 is attached and fixed to the rear portion 1A of the vehicle 1 so that the optical axis O of the wide-angle lens system faces in the direction in which the reference subject 3 that the customer desires to photograph is present.
  • the mounting position of the vehicle-mounted camera 11 on the rear portion 1A is in principle free, but it is desirable to mount it according to the instructions.
  • the viewpoint conversion processing unit 12 is set in an appropriate place inside the vehicle 1, for example, in an instrument panel in front of the driver's seat.
  • the monitor device 14 can also be used for a navigation system.
  • the viewpoint conversion processing unit 12 includes a parameter storage unit 12A, a calculation block unit 12B that is a calculation unit that performs mapping data calculation and the like, and a viewpoint conversion process that is a viewpoint conversion processing circuit that performs overhead conversion processing and the like. And a block portion 12C.
  • a general principle for performing viewpoint conversion processing on raw image data captured by the in-vehicle camera 11 will be described with reference to FIG.
  • FIG. 9 is a schematic diagram showing a state in which the vehicle-mounted camera 11 is attached and fixed to the rear portion 1A of the vehicle 1.
  • the imaging center When the intersection of the optical axis O of the vehicle-mounted camera 11 and a CCD (solid-state imaging device) (not shown) of the vehicle-mounted camera 11 is the imaging center, the z-coordinate of the imaging center of the CCD is the coordinate position in the height direction.
  • the x coordinate of the imaging center is the coordinate position in the vehicle longitudinal direction, and the y coordinate of the CCD imaging center is the coordinate position in the vehicle width direction.
  • the coordinates of the CCD image pickup center are the viewpoint of the vehicle-mounted camera 11.
  • the coordinates in the three-dimensional space of the CCD imaging center are the three-dimensional coordinate position (x, y, z) as the viewpoint of the in-vehicle camera 11.
  • the left and right rear wheels of the vehicle 1 are denoted by Lrh and Rrh
  • the rear wheels are denoted by Lrh and Rrh rear shafts by Lrs and Rrs.
  • the rear shafts Lrs and Rrs have a coaxial center line extending in the vehicle width direction as a rear shaft center line (rear shaft axis line) Rax.
  • the center between the rear wheels Lrh and Rrh of the rear shaft center line Rax is defined as a rear wheel center Rsc
  • a line vertically lowered from the rear wheel center Rsc is defined as a virtual vertical line ScL
  • a virtual vertical line ScL is defined as a virtual vertical line ScL
  • the horizontal ground EG is defined as a coordinate origin Op of spatial coordinates on the ground EG.
  • a horizontal line passing through the rear wheel center Rsc and extending in the front-rear direction is HL, and an optical axis of the vehicle-mounted camera 11 is O. Further, for example, an installation posture in which the direction of the optical axis O of the vehicle-mounted camera 11 is downward in the vertical direction is set as the reference posture of the camera 1.
  • the in-vehicle camera 11 is attached to the rear portion 1A of the vehicle 1 so that the optical axis O is directed in the vertical direction and the optical axis O is perpendicular to the horizontal line HL.
  • Such conditions are those when the vehicle is placed on a horizontal ground EG in a state where the vehicle is not traveling.
  • the attitude of the in-vehicle camera 11 with respect to the three-dimensional space when the vehicle 1 is traveling is the tilt angle (pitch angle ⁇ ) of the optical axis O with respect to the horizontal plane in the vertical plane, and the rotation angle (roll angle) around the photographing optical axis. ⁇ ), which is determined by the tilt angle (yaw angle ⁇ ) of the optical axis O with respect to the vertical plane in the horizontal plane. Therefore, the position and orientation of the in-vehicle camera 2 with respect to the three-dimensional space can be expressed using the six parameters (x, y, z, ⁇ , ⁇ , ⁇ ) in the three-dimensional space.
  • the basic posture is when the optical axis O of the in-vehicle camera 11 is directed vertically downward, and the pitch angle ⁇ and the yaw angle ⁇ about three mutually independent axes in the three-dimensional space.
  • the attitude of the in-vehicle camera 11 with respect to the three-dimensional space is uniquely defined by the roll angle ⁇ .
  • the vehicle camera 11 attached to the vehicle 1 in any posture uses six parameters (x, y, z, ⁇ , ⁇ , ⁇ ) for the position and posture of the vehicle camera 11. Can be expressed. Therefore, an arbitrary point of the raw image acquired by the in-vehicle camera 11 can be theoretically defined using these six parameters (x, y, z, ⁇ , ⁇ , ⁇ ).
  • the upper side portion 20 of the vehicle body bumper 19 can be imaged by the vehicle-mounted camera 11.
  • the upper side 20 of the vehicle body bumper 19 captured by the vehicle-mounted camera 11 is displayed on the image display unit (display screen) 18 of the monitor device 14, the upper side 20 is displayed on the lower part of the image display unit 18.
  • the six parameters (x, y, z, ⁇ , and so on) obtained when the in-vehicle camera 11 is precisely attached and fixed to the rear portion 1A of the vehicle 1 are fixed. Let ( ⁇ , ⁇ ) be the initial parameters (default values).
  • the description thereof is omitted here.
  • [Xin] is a coordinate point indicating an arbitrary point in the image focused as a rotation conversion target.
  • [Xout] is an arbitrary value in the image after rotation conversion by the rotation matrix R ( ⁇ 0 ), R ( ⁇ 0 ), R ( ⁇ 0 ) using the initial parameters ( ⁇ 0 , ⁇ 0 , ⁇ 0 ). This is a coordinate point indicating one point.
  • a 3 ⁇ 3 rotation matrix is used in the image after rotation conversion without using variables.
  • a coordinate point indicating an arbitrary point can be represented.
  • this rotation matrix for example, Equations 1 to 6 in JP-A-2007-256030 are used.
  • mapping data for generating viewpoint conversion video is generated for each coordinate point using the rotation matrix, and the viewpoint conversion image data is obtained by subjecting the raw image data acquired by the in-vehicle camera 11 to the viewpoint conversion processing using the mapping data. If output is made to the monitor device 14, the viewpoint conversion image can be displayed on the image display unit 18 of the monitor device 14. Such viewpoint conversion processing is known.
  • the parameter input device 13 has a function of inputting parameters used for generating the three-dimensional state data of the in-vehicle camera 11 to the viewpoint conversion processing unit 12.
  • This three-dimensional state data is mapping data for generating viewpoint-converted video.
  • the parameters used for generating the mapping data are data (position of coordinate position) and attitude data (inclination direction and inclination of the optical axis O) of the in-vehicle camera 11 with respect to the three-dimensional space as data used to generate the viewpoint conversion video. Angle).
  • the parameter output from the parameter input device 13 or the parameter stored in the parameter storage unit 12A is input to the calculation block unit 12B.
  • the arithmetic block unit 12B generates mapping data in real time based on parameters input by the parameter input device 13 (hereinafter also referred to as input parameters).
  • the raw image data output from the vehicle-mounted camera 11 and the mapping data generated by the calculation block unit 12B are input to the viewpoint conversion processing block unit 12C.
  • the viewpoint conversion processing block unit 12C performs a viewpoint conversion process in real time based on the input raw image data and mapping data, and outputs the viewpoint converted image data to the monitor device 14.
  • the parameter storage unit 12A has a role of storing input parameters input by the parameter input device 13.
  • This parameter storage unit 12A stores preset initial parameters.
  • the initial parameter is replaced with the input parameter input by the parameter input device 13 by processing described later.
  • the parameter input device 13 for example, a remote control device shown in FIG. 10 is used.
  • the parameter input device 13, which is a remote control device includes levers 13a to 13e, one dial 13f, and display units 13g to 13i.
  • the levers 13a to 13c are used as an operation unit for designating three parameters ⁇ x, ⁇ y, and ⁇ z corresponding to the three-dimensional coordinate position of the viewpoint of the in-vehicle camera 11.
  • the levers 13d and 13e are used as an operation unit for designating the pitch angle ⁇ and the yaw angle ⁇ as parameters corresponding to the posture of the vehicle-mounted camera 11 with respect to the three-dimensional space.
  • the dial 13f is used as an operation unit for designating the roll angle ⁇ .
  • the raw image data is subjected to a parallel movement process in the front / rear / left / right height direction. Then, when the translation processing of the raw image data is performed, mapping data for generating a viewpoint-converted image whose viewpoint is converted by the translation is generated. Further, rotation conversion processing is performed on the raw image data by operating the levers 13d and 13e and the dial 13f. Then, when this rotation conversion process is performed, mapping data for generating a viewpoint conversion image whose viewpoint is converted by this rotation process is generated.
  • FIG. 2 the conceptual diagram shown in FIG. 7, the block diagram shown in FIG. 8, the parameter input device shown in FIG. 10, the flowchart shown in FIG. 11, and the images shown in FIGS.
  • a method of acquiring a viewpoint conversion image according to an embodiment of the invention will be described.
  • the customer purchases the in-vehicle camera 11, the viewpoint conversion processing unit 12, and the parameter input device 13, so that the optical axis O of the in-vehicle camera 11 is directed in an appropriate direction toward the rear portion 1A of the vehicle 1 shown in FIG.
  • the vehicle-mounted camera 11 is attached and fixed.
  • initial parameters are stored in the parameter storage unit 12A.
  • This initial parameter is a value appropriately determined before shipment at the factory.
  • the initial parameters stored in the parameter storage unit 12A are Reading is performed as shown in FIG. 11 (S.1).
  • the calculation block unit 12B calculates mapping data for generating a viewpoint converted image in real time based on the initial parameters. This mapping data is input to the viewpoint conversion processing block unit 12c.
  • the in-vehicle camera 11 outputs, for example, the raw image data illustrated in FIG. 2 to the viewpoint conversion processing block unit 12c.
  • the viewpoint conversion processing block unit 12c performs viewpoint conversion processing on the image data based on the mapping data obtained based on the initial parameters to create viewpoint converted image data (default overhead view) (S.2).
  • the created default overhead view is output to the monitor device 14 as viewpoint converted image data (S.3).
  • the viewpoint conversion image 21 shown in FIG. 12 is displayed on the image display unit 18 of the monitor device 14.
  • the image data acquired in real time by the in-vehicle camera 11 is subjected to viewpoint conversion processing based on the initial parameters, and the viewpoint conversion image 21 obtained by this viewpoint conversion processing is displayed on the image display unit 18 of the monitor device 14.
  • the initial parameters are parameters for generating mapping data for generating viewpoint-converted video, and data (position of the three-dimensional coordinate position) and attitude (optical axis O) of the vehicle-mounted camera 11 with respect to the three-dimensional space. Data on the inclination direction and inclination angle of the image.
  • the customer visually recognizes the viewpoint conversion image 21 displayed on the image display unit 18 of the monitor device 14 (S.4). Next, the customer determines whether or not to change the viewpoint conversion image 21 (S.5). If no change is necessary, the process ends. In the normal case, there is almost no need for modification. Move to 6.
  • This S.I. Process 6 is an input step for inputting the parameters for generating the mapping data described above in order to change the viewpoint conversion image 21 obtained by the initial parameters.
  • the calculation block unit 12B is S.D. Based on the input parameters input in step 6, the mapping data for generating the viewpoint conversion image is calculated in real time using the rotation matrix (S.7). This mapping data is input to the viewpoint conversion processing block unit 12c. The viewpoint conversion processing block unit 12c performs viewpoint conversion processing on the raw image data based on the mapping data to create viewpoint converted image data (overhead view) (S.8). The created overhead view is output to the monitor device 14 as video data (S.9). As a result, the viewpoint conversion image 22 shown in FIG. 13 is displayed on the image display unit 18 of the monitor device 14. The viewpoint conversion image 22 is an image obtained by further adding viewpoint conversion using input parameters to the viewpoint conversion image 21 obtained using initial parameters.
  • the input parameters are the pitch angle ⁇ and the roll angle ⁇ .
  • the image data acquired in real time by the in-vehicle camera 11 is converted to S.P.
  • the customer visually recognizes the viewpoint conversion image 22 displayed on the image display unit 18 of the monitor device 14 (S.10), and determines whether the viewpoint conversion image 22 is appropriate (S.11).
  • the power button 13j is turned off. Then, the initial parameter is replaced with the input parameter input by the parameter input device 13. That is, the parameter storage unit 12A stores the input parameter input by the parameter input device 13 (S.12). This input parameter saving process is executed by the calculation block unit 12B.
  • the input parameters stored in the parameter storage unit 12A are already stored in the parameter storage unit 12A and parameters ( ⁇ x, ⁇ y, ⁇ z, ⁇ , ⁇ , ⁇ ) given by the customer's operation. It is determined by the difference from the initial parameters (x, y, z, ⁇ , ⁇ , ⁇ ).
  • the calculation block unit 12B is configured to input parameters ( ⁇ x, ⁇ y, ⁇ z, ⁇ , ⁇ , ⁇ based on the inverse calculation of the rotation matrix. ) And the initial parameters (x, y, z, ⁇ , ⁇ , ⁇ ) already stored in the parameter storage unit 12A.
  • the calculation block unit 12B transmits the difference parameters (x ′, y ′, z ′, ⁇ ′, ⁇ ′, ⁇ ′) to the parameter storage unit 12A.
  • the difference parameters (x ′, y ′, z ′, ⁇ ′, ⁇ ′, ⁇ ′) are stored in the parameter storage unit 12A, and the difference parameters (x ′, y ′, z ′, ⁇ ′, ⁇ ) are stored.
  • ', ⁇ ') is used as an initial parameter (x, y, z, ⁇ , ⁇ , ⁇ ) in the next viewpoint conversion image acquisition.
  • S. The process No. 11 is a determination step for determining whether or not the viewpoint conversion image displayed on the image display unit 18 of the monitor device 14 in the second display step (the processes from S.7 to S.9) is appropriate. Moreover, this S.I. In the process No. 11, when it is determined that the viewpoint conversion image is appropriate, the input parameter is stored in the parameter storage unit 12A. On the other hand, this S.I. In the process of No. 11, when it is determined that the viewpoint conversion image is inappropriate, the input step can be re-executed.
  • the viewpoint of the in-vehicle camera 11 is translated by ⁇ x, ⁇ y, ⁇ z with respect to the three-dimensional space by operating the levers 13a to 13c once, and the levers 13d and 13e are operated once.
  • the viewpoint is rotated by ⁇ , ⁇ , and ⁇ by the operation and the operation of the dial 13f.
  • the viewpoint of the in-vehicle camera 11 can be changed by a predetermined amount with reference to the initial parameters (x, y, z, ⁇ , ⁇ , ⁇ ).
  • the customer can perform viewpoint conversion by a predetermined amount while viewing the viewpoint conversion image in real time, so that handling becomes even easier.
  • the in-vehicle viewpoint conversion video system includes a plurality of input parameter storage units 12D to 12G that store and save input parameters input by the parameter input device 13.
  • the parameter storage unit 12A includes a ROM as an initial parameter storage unit, and the initial parameters cannot be rewritten.
  • input parameters are stored and saved by operations described later.
  • the parameter input device 13 is the monitor device 14 shown in FIG. 15, and the monitor device 14 has a touch panel image display unit 18.
  • the touch-panel image display unit (display screen) 18 includes a three-dimensional position adjustment screen (that is, a three-dimensional coordinate position adjustment screen) 18A shown in FIG. 16 and an attitude adjustment screen 18B shown in FIGS. Switching display is possible.
  • On this three-dimensional position adjustment screen 18A as shown in FIG. 16, instruction buttons 18a to 18c, a return button 24, and an enter button 25 are displayed.
  • the instruction buttons 18a to 18c are used to designate three parameters corresponding to the three-dimensional coordinate position (X, Y, Z) of the viewpoint of the vehicle-mounted camera 11.
  • the instruction buttons 18a to 18c have a pair of an upward arrow image directed upward and a downward arrow image directed downward, and the instruction button 18a is used to indicate the coordinate position in the X direction.
  • the instruction button 18b is used to instruct the coordinate position in the Y direction
  • the instruction button 18c is used to instruct the coordinate position in the Z direction.
  • the return button 24 is used to return to the previous screen
  • the decision button 25 is used to complete the adjustment of the three-dimensional coordinate position and move to the next screen.
  • instruction buttons 18d (18d ′), 18e (18e ′), 18f (18f ′), a return button 26, and a determination button 27 are displayed on the posture adjustment screen 18B.
  • the instruction buttons 18d (18d ′), 18e (18e ′), and 18f (18f ′) are displayed on the three-dimensional position adjustment screen 18A of the monitor device 14 by the operation of the determination button 25, and the tertiary of the vehicle-mounted camera 11 is displayed. It is used to designate three parameters as a pitch angle ⁇ , a roll angle ⁇ , and a yaw angle ⁇ as postures with respect to the original space. That is, the instruction button 18d is displayed as an up arrow image at the upper edge of the screen, and the instruction button 18d 'is displayed as a down arrow image at the lower edge of the screen.
  • the instruction button 18e is displayed as a right turn arrow image at the upper left corner of the screen, and the instruction button 18e 'is displayed as a left turn arrow image at the upper right corner of the screen. Further, the instruction button 18f is displayed as a left arrow image at the center in the vertical direction at the left edge of the screen, and the instruction button 18f 'is displayed as a right arrow image at the center in the vertical direction at the right edge of the screen.
  • the instruction buttons 18d and 18d ′ are used to designate a parameter of the pitch angle ⁇ as the posture of the vehicle-mounted camera 11 with respect to the three-dimensional space.
  • the instruction buttons 18e and 18e ′ are used to designate a parameter of the roll angle ⁇ as the posture of the vehicle-mounted camera 11 with respect to the three-dimensional space. Further, the instruction buttons 18f and 18f ′ are used for designating three parameters of the yaw angle ⁇ as the attitude of the vehicle-mounted camera 11 with respect to the three-dimensional space.
  • a return button 26 is used to return to the previous screen.
  • the decision button 27 is used to store parameters input after the posture adjustment for the three-dimensional space is completed in the input parameter storage units 12D to 12G in FIG.
  • display units 18g to 18i indicating the amount of parallel movement of the image on the screen are provided corresponding to the instruction buttons 18a to 18c.
  • the customer adjusts the three-dimensional coordinate position of the in-vehicle camera 11 on the three-dimensional position adjustment screen 18A, and adjusts the attitude of the in-vehicle camera 11 with respect to the three-dimensional space on the attitude adjustment screen 18B, thereby mapping the viewpoint conversion generation.
  • the input parameter for obtaining the mapping data for generating the viewpoint transformation is stored in the input parameter storage unit 12D.
  • the customer can acquire a plurality of input parameters for obtaining mapping data for viewpoint conversion according to his / her preference by performing the action corresponding to the flowchart of the first embodiment (see FIG. 11) a plurality of times.
  • the input parameters corresponding to the raw image shown in FIG. 2 the input parameters corresponding to the image shown in FIG. 13, the input parameters corresponding to the image shown in FIG.
  • the input parameters corresponding to the image obtained when the above image is taken are stored and saved in the input parameter storage units 12D to 12E.
  • a touch panel screen 18C as shown in FIG. 19 is displayed on the image display unit (display screen) 18 of the monitor device 14 of FIG.
  • a plurality of viewpoint conversion images are displayed on the touch panel screen 18C when the monitor device 14 is turned on.
  • the plurality of viewpoint conversion images are simultaneously displayed in parallel on the reduced images 31 to 34 obtained based on the input parameters stored in the plurality of input parameter storage units 12D to 12E when the monitor device 14 is turned on. Is done.
  • the viewpoint conversion image corresponding to the touched reduced image is enlarged and displayed on the image display unit 18 of the monitor device 14.
  • the calibration process of adjusting the mounting error of the in-vehicle camera 11 is abolished and the position of the in-vehicle camera (real camera) 11 in the three-dimensional space is eliminated.
  • the (three-dimensional coordinate position) data and attitude data are used as parameters for creating mapping data used to generate the viewpoint conversion image.
  • the viewpoint conversion processing is directly executed using the mapping data creation parameters.
  • the viewpoint conversion video system of the vehicle-mounted camera compared with the mapping data creation processing speed when mapping data for viewpoint conversion image generation is conventionally created using 12 parameters.
  • the mapping data creation processing speed can be improved.
  • the viewpoint converted image can be displayed on the screen of the monitor device in real time, and the customer can acquire the viewpoint converted image while viewing the image display unit 18 of the monitor device 14.
  • the parameters for mapping data generation can be adjusted while viewing the viewpoint conversion image, which is easy to handle for the customer and the customer can freely convert the viewpoint conversion image. Can be obtained.
  • the range in which the customer can adjust the parameters may be limited. That is, the parameters may be adjustable within a range where the upper side portion 20 of the vehicle body bumper 19 appears in the lower portion of the image display unit 18 so that no blind spot is generated.
  • the in-vehicle camera viewpoint conversion video system includes the in-vehicle camera 11 attached and fixed to the vehicle, the monitor device 14 for displaying an image, and the in-vehicle camera 11. And a viewpoint conversion processing unit 12 that performs viewpoint conversion processing on the image data based on mapping data for generating a viewpoint converted image and outputs the viewpoint converted image data to the monitor device 14.
  • the viewpoint conversion video system further includes a parameter input device 13 that inputs parameters for generating the mapping data, which are parameters indicating the position and orientation of the vehicle-mounted camera 11 with respect to the three-dimensional space. .
  • the viewpoint conversion process can be automatically performed only by inputting the parameters, which is easy for the customer to handle. Become.
  • the parameter input device 13 inputs the parameter for generating the mapping data while viewing the viewpoint conversion image.
  • the input can be easily adjusted, and it is easy for the customer to handle and the customer can freely acquire the viewpoint conversion image.
  • the viewpoint conversion processing unit 12 calculates the mapping data in real time based on the input parameter input by the parameter input device 13.
  • Unit (calculation block unit 12B) image data output from the in-vehicle camera 11 and mapping data output from the calculation unit (calculation block unit 12B) are input, and the image data is converted into the image data based on the mapping data.
  • a viewpoint conversion processing circuit (viewpoint conversion processing block unit 12C) that performs viewpoint conversion processing in real time, and a parameter storage unit (parameter storage unit 12A, input parameter storage unit 12D ⁇ ) that stores input parameters input by the parameter input device 13 12G).
  • the parameter input device 13 inputs a parameter for generating mapping data while viewing the viewpoint conversion image.
  • the input can be easily adjusted, and it is easy for the customer to handle and the customer can freely acquire the viewpoint conversion image.
  • the parameter storage unit that stores the input parameters input by the parameter input device 13 is provided, it is possible to easily obtain a viewpoint image according to customer preferences.
  • preset parameter is stored in the parameter storage unit (parameter storage unit 12A), and the initial parameter is stored in the parameter input device 13. It is replaced with the input parameter input by.
  • the initial viewpoint conversion image is shifted or the customer's preference. Even if they do not match, it is possible to easily change the initial parameters and easily obtain a preferable viewpoint conversion image.
  • the parameter input device 13 includes a remote control device, and the remote control device corresponds to the three-dimensional coordinate position of the viewpoint of the in-vehicle camera 11.
  • An operation unit (lever 13a to 13c) for designating three parameters to be performed and an operation unit for designating three parameters of a pitch angle, a roll angle, and a yaw angle as the posture of the vehicle-mounted camera 11 with respect to the three-dimensional space (
  • the monitor device 14 is of a touch panel type.
  • the parameter storage unit stores an initial parameter storage unit (parameter storage unit 12A) that stores preset initial parameters and a plurality of input parameters that are input by the parameter input device 13.
  • Input parameter storage unit (12D to 12G) Input parameter storage unit (12D to 12G).
  • the viewpoint conversion processing unit 12 displays a viewpoint conversion image obtained based on the input parameters stored in the plurality of input parameter storage units (12D to 12G) as the touch panel type monitor device 14. Are simultaneously displayed in parallel as reduced images (31-34) on the screens (18A-18C).
  • the viewpoint conversion processing unit 12 touches the reduced images (31 to 34), the reduced images (31 to 34) are enlarged and displayed on the screen of the monitor device 14.
  • the viewpoint conversion image is selected according to the preference of the customer. Can be displayed.
  • the monitor device 14 is a touch panel type monitor device that also serves as the parameter input device, and the screen (18A, 18B) of the monitor device 14 includes A parameter input section (instruction buttons 18a to 18c, 18d, 18d 'to 18f, 18f') for inputting the parameters is displayed. According to this configuration, it is not necessary to separately provide a parameter input device, so the configuration is simplified.
  • the parameter input unit inputs the three-dimensional position data of the in-vehicle camera.
  • it is a movement direction instruction part displayed on the screen (18A, 18B). According to this configuration, it is possible to easily change the viewpoint position of the monitor device 14 without moving the viewing position while viewing the image displayed on the screen (18A, 18B) of the monitor device 14. Is good.
  • the movement direction instruction unit is an X movement direction instruction unit for inputting position data in the X direction, and a Y movement direction instruction for inputting position data in the Y direction.
  • Z movement direction indicating units instruction buttons 18a to 18c, 18d, 18d 'to 18f, 18f' for inputting position data in the Z direction.
  • the X movement direction instruction section, the Y movement direction instruction section, and the Z movement direction instruction section are a pair of instruction buttons for moving the viewpoint position in the opposite direction. (18a-18c, 18d, 18d'-18f, 18f '). According to this configuration, the operation of moving the viewpoint position in the three-dimensional direction can be easily performed.
  • the pair of instruction buttons (instruction buttons 18a to 18c, 18d, 18d 'to 18f, and 18f') of the respective movement direction instruction units are in opposite directions. It is a directed arrow image.
  • the moving direction of the viewpoint position in the three-dimensional direction can be visually recognized, it is possible to easily operate the moving direction of the viewpoint position.
  • three display units (18g to 18i) for respectively displaying the parallel movement amounts in the three-dimensional direction of the in-vehicle camera on the screen (18A, 18B). Is provided. According to this configuration, the movement state of the viewpoint position and the amount of parallel movement thereof can be easily executed without moving the viewing position on the same screen.
  • the instruction button is provided on the peripheral edge of the screen (18B). According to this configuration, since the instruction button is provided on the peripheral portion of the screen (18B), the viewpoint image on the screen can be easily recognized.
  • the screen of the touch panel type monitor device 14 has a three-dimensional coordinate position adjustment screen 18A and a posture adjustment screen 18B.
  • the viewpoint conversion processing unit 12 includes an instruction button (18a to 18c) for designating three parameters corresponding to the three-dimensional coordinate position of the viewpoint of the vehicle-mounted camera 11, a return button 24 for returning to the previous screen, and A determination button 25 that signifies completion of adjustment of the three-dimensional coordinate position and shifts to the next screen is displayed on the three-dimensional coordinate position adjustment screen 18A.
  • the viewpoint conversion processing unit 12 is displayed on the monitor device 14 by the operation of the decision button 25 and has three pitch angles, a roll angle, and a yaw angle as postures of the vehicle-mounted camera 11 with respect to the three-dimensional space.
  • a determination button 27 for storing the input parameters in the input parameter storage unit (12D to 12G) is displayed on the posture adjustment screen 18B.
  • the touch panel type monitor device 14 is used as the parameter input device 13, the number of parts can be reduced.
  • the raw image data from the vehicle-mounted camera 11 attached and fixed to the vehicle is input and the viewpoint conversion is performed to convert the viewpoint.
  • a viewpoint conversion processing unit 12 that outputs image data to the monitor device 14 is used, and an image captured by the vehicle-mounted camera 11 is converted into a screen of the monitor device 14 by a viewpoint conversion process to display a viewpoint conversion image. It has become.
  • the vehicle-mounted camera 11 means the position and orientation of the vehicle-mounted camera 11 with respect to the three-dimensional space and is generated by the vehicle-mounted camera 11 in real time based on initial parameters that generate mapping data for generating a viewpoint converted image.
  • the viewpoint converted video acquisition method it is determined whether or not the viewpoint converted image displayed on the screen of the monitor device 14 is appropriate in the second display step, and when the viewpoint converted image is appropriate, the parameter is stored as a parameter. And a determination step that allows the input step to be re-executed when the viewpoint conversion image is inappropriate.
  • the mapping data generation parameters can be adjusted while viewing the viewpoint conversion image. It is easy for the customer to handle and the customer can acquire the viewpoint conversion image freely.
  • the viewpoint conversion processing unit 12 calculates the mapping data in real time based on the input parameters (calculation block unit). 12B), the image data output from the in-vehicle camera 11 and the mapping data output from the calculation unit are input, and the viewpoint conversion processing is performed on the image data in real time based on the mapping data for generating the viewpoint conversion image.
  • a viewpoint conversion processing circuit viewpoint conversion processing block unit 12C.
  • the mapping data generation parameters can be adjusted while viewing the viewpoint conversion image. It is easy for the customer to handle and the customer can acquire the viewpoint conversion image freely.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)

Abstract

L'invention porte sur un système d'image vidéo de conversion de point de vue d'une caméra montée sur un véhicule, qui comporte une caméra (11) montée et fixée sur un véhicule, un dispositif de moniteur (14) qui affiche une image, et une unité de traitement de conversion de point de vue (12) dans laquelle des données d'image en direct provenant de la caméra (11) montée sur le véhicule sont mises en entrée et qui réalise le traitement de point de vue des données d'image conformément à des données de mappage pour la génération d'une image de conversion de point de vue et émet les données de conversion de point de vue au dispositif de moniteur (14). En outre, le système d'image vidéo de conversion de point de vue comporte également un dispositif d'entrée de paramètre (13) qui entre un paramètre qui représente la position et la posture de la caméra (11) montée sur le véhicule par rapport à un espace tridimensionnel et qui est utilisé pour générer les données de mappage. Un procédé pour acquérir une image vidéo de conversion de point de vue est composé d'une étape d'entrée pour entrer un paramètre d'entrée pour la génération de données de mappage, d'une seconde étape d'affichage pour afficher la conversion de point de vue, et d'une étape de détermination pour déterminer si l'image de conversion de point de vue est appropriée ou non, permettant ainsi de stocker ou de ré-exécuter celui-ci.
PCT/JP2009/062661 2008-07-14 2009-07-13 Système d'image vidéo de conversion de point de vue pour une caméra montée sur un véhicule et procédé d'acquisition d'image vidéo de conversion de point de vue WO2010007960A1 (fr)

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JP2010520854A JPWO2010007960A1 (ja) 2008-07-14 2009-07-13 車載用カメラの視点変換映像システム及び視点変換映像取得方法

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JP2008-183201 2008-07-14

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KR20180090353A (ko) * 2016-01-20 2018-08-10 미쓰비시덴키 가부시키가이샤 3차원 계측 장치 및 그 계측 지원 처리 방법
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CN112866627A (zh) * 2019-11-28 2021-05-28 上海华为技术有限公司 一种三维视频监控方法及相关设备

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Publication number Priority date Publication date Assignee Title
JP2013236374A (ja) * 2012-05-03 2013-11-21 Harman Internatl Industries Inc 仮想カメラを対話形式で制御するシステムおよび方法
KR20180090353A (ko) * 2016-01-20 2018-08-10 미쓰비시덴키 가부시키가이샤 3차원 계측 장치 및 그 계측 지원 처리 방법
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CN112866627A (zh) * 2019-11-28 2021-05-28 上海华为技术有限公司 一种三维视频监控方法及相关设备
CN112866627B (zh) * 2019-11-28 2024-03-05 上海华为技术有限公司 一种三维视频监控方法及相关设备

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