WO2015152691A3 - 차량 주변 이미지 생성 장치 및 방법 - Google Patents

차량 주변 이미지 생성 장치 및 방법 Download PDF

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Publication number
WO2015152691A3
WO2015152691A3 PCT/KR2015/003394 KR2015003394W WO2015152691A3 WO 2015152691 A3 WO2015152691 A3 WO 2015152691A3 KR 2015003394 W KR2015003394 W KR 2015003394W WO 2015152691 A3 WO2015152691 A3 WO 2015152691A3
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WO
WIPO (PCT)
Prior art keywords
bird
eye view
view image
image
generating
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Application number
PCT/KR2015/003394
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English (en)
French (fr)
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WO2015152691A2 (ko
Inventor
이정표
류춘우
김상구
박재홍
권석근
Original Assignee
주식회사 와이즈오토모티브
에스엘 주식회사
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 주식회사 와이즈오토모티브, 에스엘 주식회사 filed Critical 주식회사 와이즈오토모티브
Priority to MX2016012999A priority Critical patent/MX2016012999A/es
Priority to EP15772355.2A priority patent/EP3128738A4/en
Priority to BR112016023013A priority patent/BR112016023013A2/pt
Priority to JP2016560769A priority patent/JP2017520133A/ja
Priority to US15/277,050 priority patent/US20170144599A1/en
Priority to CN201580025702.8A priority patent/CN107079081A/zh
Publication of WO2015152691A2 publication Critical patent/WO2015152691A2/ko
Publication of WO2015152691A3 publication Critical patent/WO2015152691A3/ko

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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
    • B60R1/002—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 specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/60—Editing figures and text; Combining figures or text
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/265—Mixing
    • 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
    • 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
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • 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
    • B60R2300/806—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 aiding parking

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Studio Devices (AREA)
  • Traffic Control Systems (AREA)

Abstract

차량 주변 이미지 생성 장치 및 방법이 개시된다. 본 발명에 따른 차량 주변이미지 생성 장치는 차량에 위치하여 주변을 촬영하는 카메라부로부터 생성된 촬영 이미지를, 상기 카메라부를 시각점으로 투영된 지면 좌표계의 데이터로 변환함으로써 조감도 이미지를 생성하는 조감도 이미지 생성부, 상기 조감도 이미지 생성부에 의해 이전 조감도 이미지가 생성된 후, 상기 차량이 이동한 영역을 추출하여 상기 이동한 영역에 대한 조감도인 이동 영역 조감도 이미지를 생성하는 이동 영역 조감도 이미지 생성부, 상기 이전 조감도 이미지가 생성된 이후에 촬영되어 생성된 현재 이미지인 이후 조감도 이미지를 과거 이미지인 이동 영역 조감도 이미지와 합성함으로써, 합성 조감도 이미지를 생성하는 합성 조감도 이미지 생성부 및 상기 현재 이미지인 이후 조감도 이미지와, 상기 과거 이미지인 이동 영역 조감도 이미지를 구분하기 위하여 이미지를 보정하여 보정된 합성 조감도 이미지를 생성하는 합성 조감도 이미지 보정부를 포함한다.
PCT/KR2015/003394 2014-04-04 2015-04-03 차량 주변 이미지 생성 장치 및 방법 WO2015152691A2 (ko)

Priority Applications (6)

Application Number Priority Date Filing Date Title
MX2016012999A MX2016012999A (es) 2014-04-04 2015-04-03 Aparato y metodo para la generacion de una imagen periferica de un vehiculo.
EP15772355.2A EP3128738A4 (en) 2014-04-04 2015-04-03 Apparatus and method for generating image around vehicle
BR112016023013A BR112016023013A2 (pt) 2014-04-04 2015-04-03 aparelho e método para geração de imagem periférica de veículo
JP2016560769A JP2017520133A (ja) 2014-04-04 2015-04-03 車両周辺イメージ生成装置および方法
US15/277,050 US20170144599A1 (en) 2014-04-04 2015-04-03 Apparatus and method for generating image around vehicle
CN201580025702.8A CN107079081A (zh) 2014-04-04 2015-04-03 车辆周边图像生成装置及方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2014-0040633 2014-04-04
KR1020140040633A KR101611194B1 (ko) 2014-04-04 2014-04-04 차량 주변 이미지 생성 장치 및 방법

Publications (2)

Publication Number Publication Date
WO2015152691A2 WO2015152691A2 (ko) 2015-10-08
WO2015152691A3 true WO2015152691A3 (ko) 2017-02-02

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PCT/KR2015/003394 WO2015152691A2 (ko) 2014-04-04 2015-04-03 차량 주변 이미지 생성 장치 및 방법

Country Status (8)

Country Link
US (1) US20170144599A1 (ko)
EP (1) EP3128738A4 (ko)
JP (1) JP2017520133A (ko)
KR (1) KR101611194B1 (ko)
CN (1) CN107079081A (ko)
BR (1) BR112016023013A2 (ko)
MX (1) MX2016012999A (ko)
WO (1) WO2015152691A2 (ko)

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US10026450B2 (en) * 2015-03-31 2018-07-17 Jaguar Land Rover Limited Content processing and distribution system and method
US10576892B2 (en) 2016-03-24 2020-03-03 Ford Global Technologies, Llc System and method for generating a hybrid camera view in a vehicle
CN106080390A (zh) * 2016-06-07 2016-11-09 深圳市灵动飞扬科技有限公司 车辆行进全景系统及其方法
JP6642306B2 (ja) * 2016-06-29 2020-02-05 アイシン精機株式会社 周辺監視装置
US10150414B2 (en) * 2016-07-08 2018-12-11 Ford Global Technologies, Llc Pedestrian detection when a vehicle is reversing
KR101949961B1 (ko) * 2016-11-15 2019-02-21 주식회사 와이즈오토모티브 운전 보조 장치 및 방법
KR20180062820A (ko) * 2016-12-01 2018-06-11 주식회사 와이즈오토모티브 차량의 운전 보조 장치 및 방법
JP6743732B2 (ja) * 2017-03-14 2020-08-19 トヨタ自動車株式会社 画像記録システム、画像記録方法、画像記録プログラム
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CN108985271B (zh) * 2018-08-16 2021-10-08 大连民族大学 磁力模型的感兴趣行人判定方法
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Also Published As

Publication number Publication date
KR20150115488A (ko) 2015-10-14
CN107079081A (zh) 2017-08-18
KR101611194B1 (ko) 2016-04-11
JP2017520133A (ja) 2017-07-20
MX2016012999A (es) 2017-10-12
WO2015152691A2 (ko) 2015-10-08
EP3128738A2 (en) 2017-02-08
BR112016023013A2 (pt) 2017-10-10
EP3128738A4 (en) 2017-06-28
US20170144599A1 (en) 2017-05-25

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