WO2017042903A1

WO2017042903A1 - Vehicle-use image processing apparatus

Info

Publication number: WO2017042903A1
Application number: PCT/JP2015/075573
Authority: WO
Inventors: 浩朗伊藤; 甲　展明
Original assignee: 日立マクセル株式会社
Priority date: 2015-09-09
Filing date: 2015-09-09
Publication date: 2017-03-16

Abstract

A vehicle-use image processing apparatus 100 comprises: a peripheral image motion calculation unit 102 that calculates an image motion amount (MV1) from vehicle peripheral images captured by an image capture apparatus 107 fixed on a vehicle; a vehicle motion calculation unit 104 that calculates, from vehicle operation information, a vehicle peripheral image motion amount (MV2) that is the amount of a vehicle peripheral image motion accompanying an operation of the vehicle; an image unsteadiness calculation unit 105 that subtracts the motion amount (MV2) from the motion amount (MV1), thereby calculating an image unsteadiness amount (MV3) that is the amount of an image unsteadiness caused by a vehicle vibration; and an image unsteadiness correction unit 106 that performs, on the basis of the image unsteadiness amount (MV3), an image unsteadiness correction of the captured vehicle peripheral images. In this way, image unsteadiness accompanying vehicle vibrations can be reduced and the motions of captured images accompanying vehicle operations can be followed.

Description

Vehicle image processing device

The present invention relates to a vehicular image processing device that corrects image blur due to vibration of a vehicle with respect to a captured image obtained by capturing the surroundings of a vehicle with a camera mounted on the vehicle.

In recent years, photographing apparatuses such as video cameras have become widespread, and their uses and usage methods have been diversified. As an example, a camera is mounted on an automobile, construction machine, railway vehicle, etc., and the vehicle operator detects the road surface condition in the traveling direction and obstacles around the vehicle while the vehicle is running, and notifies the vehicle operator. Is used for applications such as remote control for remotely operating a vehicle using the above-mentioned photographed video.

Here, in the video shot by the camera mounted on the vehicle, the camera also vibrates due to the vibration of the vehicle, causing a phenomenon (video blur) that the shot video shakes up, down, left and right. When image blurring occurs, not only the operator's operability deteriorates, but if such a video is continuously viewed for a long time, it will make you feel sick like seasickness.

As a countermeasure against image blurring, for example, Patent Document 1 has a tilt detection device that detects the tilt of a vehicle and a vibration detection device that detects the vibration of the vehicle, and based on the detection result of the tilt and vibration of the vehicle, A configuration is disclosed that corrects image blur by calculating cutout coordinates and cutting out some images from a captured image based on the cutout coordinates.

JP 2014-26046 A

The driving direction of the vehicle is based on the operation of the operator, and naturally includes not only straight but also left and right turns, and vertical movements in construction machinery. In that case, according to the method of Patent Document 1, the inclination and vibration of the vehicle caused by the vehicle operation are also determined as “image blurring” and corrected. As a result, for example, even when a left turn operation is performed, a video portion in the straight traveling direction is always cut out, and there is a possibility that a video in the traveling direction (left turn direction) is lost and the operability is hindered.

In view of the above-described problems, the present invention makes it possible to follow the movement of a photographed image that accompanies a vehicle operation when correcting the image blur of a photographed image around the vehicle, and to reduce the image blur caused by the vibration of the vehicle. An object is to provide an apparatus.

The vehicle image processing device according to the present invention includes a video acquisition unit that acquires a vehicle surrounding image captured by a video imaging device attached to the vehicle, and a plurality of temporally different vehicle surrounding images acquired by the video acquisition unit. A surrounding image motion calculating unit that calculates the amount of movement (MV1), an operation information acquiring unit that acquires operation information of the vehicle, and an amount of motion of the vehicle surrounding image accompanying the operation of the vehicle from the operation information acquired by the operation information acquiring unit ( MV2) is calculated, and the motion amount (MV2) calculated by the vehicle motion calculation unit is subtracted from the motion amount (MV1) calculated by the surrounding image motion calculation unit, and the image blur amount (MV3) due to vehicle vibration is subtracted. Based on the image blur calculation unit that calculates the image blur amount and the image blur amount (MV3) calculated by the image blur calculation unit. A structure comprising a correcting unit.

According to the present invention, when correcting the image blur of the photographed image around the vehicle, the image blur caused by the vibration of the vehicle is reduced, and the movement of the photographed image accompanying the vehicle operation is followed, thereby hindering the operability. It is possible to provide a video processing apparatus for a vehicle that is not given.

The block diagram which shows the structure of the video processing system for vehicles (Example 1). The figure which shows an example of an internal structure of the surrounding image motion calculation part. The figure which showed an example of the vehicle periphery image | video image | photographed with the video imaging device 107. FIG. The figure which shows an example of the vehicle periphery image | video when a vehicle vibrates. The figure which shows an example of the vehicle movement amount 124 which the vehicle movement calculation part 104 calculates. FIG. 10 is a diagram illustrating an example of the operation of the image blur correction unit 106. The figure which shows an example of the amount of vehicle movements calculated by the vehicle movement calculation part 104 (Example 2). The figure which shows the vehicle movement amount at the time of attaching the video imaging device 107 to the vehicle side. FIG. 10 is a diagram illustrating an example of a vehicle movement amount calculated by a vehicle movement calculation unit 104 (third embodiment). FIG. 10 is a block diagram illustrating an example of a configuration when the video processing apparatus is applied to a vehicle remote control system (Example 4).

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram illustrating the configuration of the vehicle video processing system according to the first embodiment. The vehicle video processing system has a configuration in which a video imaging device 107 such as a camera, a vehicle operation unit 108, and a video display device 109 such as a liquid crystal display are connected to a vehicle video processing device (hereinafter referred to as a video processing device) 100. ing. For example, when the vehicle is an automobile, the video photographing device 107 is attached to the front, rear, side, etc. of the vehicle, and photographs the situation (road surface condition and obstacles) around the vehicle. The video display device 109 is installed on the dashboard of the vehicle, and displays the video imaged by the video image capturing device 107 and processed by the video processing device 100. The vehicle operation unit 108 is a part for inputting a vehicle operation by an operator (driver), and corresponds to a steering wheel (steering), an accelerator (speed), or a transmission mechanism thereof.

The video processing device 100 processes the video shot by the video shooting device 107, and particularly corrects video blur in this embodiment. The video processing device 100, the surrounding video motion calculation unit 102, and the operation information acquisition unit 103 are used. A vehicle motion calculation unit 104, a video blur calculation unit 105, and a video blur correction unit 106 are provided. Details of the operation of the video processing apparatus 100 will be described below.

The video acquisition unit 101 receives the captured video 120 captured by the video imaging device 107 and outputs the captured video 120 to the ambient video motion calculation unit 102 and the video blur correction unit 106 as a vehicle ambient video 121.
The surrounding video motion calculation unit 102 calculates a motion amount (motion vector MV1) of the vehicle surrounding video from a plurality of temporally different vehicle surrounding images 121 received from the video acquisition unit 101, and outputs the surrounding video motion amount 122 To do.

The operation information acquisition unit 103 acquires operation information 127 for the vehicle by the operator from the vehicle operation unit 108, and outputs the operation information 127 to the vehicle movement calculation unit 104 as vehicle operation information 123. The vehicle operation information 123 includes vehicle steering angle information and speed information.
The vehicle motion calculation unit 104 uses the vehicle operation information 123 based on the mounting position and the shooting direction of the video shooting device 107 with respect to the vehicle, and displays the video shot by the video shooting device 107 when the vehicle is operated. A motion amount (motion vector MV2) is calculated, and a vehicle motion amount 124 is output.

The video blur calculation unit 105 calculates a video blur (motion vector MV3) based only on vehicle vibration by calculating a difference between the ambient video motion amount 122 and the vehicle motion amount 124, and outputs a video blur amount 125. That is, the ambient image motion amount 122 includes a component due to vehicle vibration and a component due to vehicle operation. By taking the difference between the ambient image motion amount 122 and the vehicle motion amount 124, only the component due to vehicle vibration is obtained. Can be extracted.

The image blur correction unit 106 corrects the image blur amount 125 for the vehicle surrounding image 121. This correction processing is performed by shifting the cutout range of the video with respect to the vehicle surrounding video 121 according to the video blur amount 125. The corrected vehicle surrounding image 126 is output to the image display device 109 for display.

Hereinafter, the operation of each unit will be described in detail.
FIG. 2 is a diagram illustrating an example of an internal configuration of the surrounding image motion calculation unit 102. The video buffer unit 201 stores the vehicle surrounding video 121 to be input. The motion vector calculation unit 202 calculates the motion vector 122 of the vehicle surrounding image 121 from the two images of the vehicle surrounding image 121 to be input and the vehicle surrounding image 221 read from the image buffer unit 201. That is, the motion vector calculation unit 202 compares the vehicle surrounding image 221 input in the past with the current input vehicle surrounding image 121 and calculates the motion vector of the current image 121 with respect to the past image 221. It is. In the motion vector calculation method, a block matching method, a gradient method, or the like can be used.

FIG. 3 is a diagram illustrating an example of a vehicle surrounding image captured by the image capturing device 107. The image capturing device 107 is attached to the front of the vehicle and the vehicle travels forward. (A) shows a vehicle surrounding image at time = t1, and (b) shows a vehicle surrounding image at time = t2. If the time t2 is temporally later than the time t1, (a) corresponds to the vehicle surrounding image 221 in FIG. 2, and (b) corresponds to the vehicle surrounding image 121 in FIG. (C) shows the operation of the motion vector calculation unit 202 in FIG. 2, and calculates a vehicle image motion amount (motion vector, indicated by an arrow) 122 indicating where each pixel in (a) has moved in (b). . For ease of explanation, (c) shows motion vectors for representative pixels in the captured video. As the vehicle travels forward, each motion vector in the vehicle surrounding image is directed toward the front.

FIG. 4 is a diagram illustrating an example of a vehicle surrounding image when the vehicle vibrates. When vibration occurs in the vehicle, the image capturing device 107 also vibrates in the same manner. Therefore, the vehicle surrounding image 121 vibrates vertically and horizontally and image blur occurs.

(A) is an example of a vehicle surrounding image, and reference numeral 401 indicates a vehicle surrounding image (reference position) before vibration occurs. When the vehicle moves in the upper right direction due to vibration, the range of the vehicle surrounding image acquired shifts in the upper right direction with respect to the reference image 401 as indicated by reference numeral 402. Conversely, when the vehicle moves in the lower left direction due to vibration, the range of the vehicle surrounding image acquired shifts in the lower left direction with respect to the reference image 401 as indicated by reference numeral 403.

(B) to (d) show vehicle surrounding images acquired in the respective shift states 401 to 403 of (a). Also, in (b) to (d), the vertical and horizontal center lines of each video range are displayed with a one-dot chain line for easy understanding of the video shift amount.

Referring to the state (b) without vibration as a reference, in (d), the imaging area is shifted in the upper right direction, and the lower left area of the screen in (b) is out of the acquisition range. On the other hand, in (c), the imaging area is shifted in the lower left direction, and the upper right area of the screen in (b) is outside the acquisition range. For this reason, when the vehicle surrounding image including the states (c) and (d) is output and displayed, an image that vibrates in the upper right direction and the lower left direction is displayed, and image blurring occurs.

In the present embodiment, the display image vibrates up and down and left and right due to the vibration of the vehicle, thereby suppressing image blurring that is difficult to see. Furthermore, in this embodiment, the amount of movement of the surrounding image (vehicle movement amount) accompanying the operation of the vehicle is calculated and subtracted from the amount of movement of the captured surrounding image so as to correct the image blur due to only the vibration of the vehicle. did.

FIG. 5 is a diagram illustrating an example of the vehicle movement amount 124 calculated by the vehicle movement calculation unit 104. The video photographing device 107 is attached to the front of the vehicle, and the photographing direction is the vehicle traveling direction. The vehicle movement amount 124 represents how the image captured by the image capturing device 107 changes by operating the vehicle as a motion vector at each pixel position.

(A) is a case where the vehicle goes straight, that is, the steering angle = 0 degree, and the motion vector 124a corresponding to the speed of the vehicle is calculated. The motion vector is generated radially from the center of the screen, which is the vehicle traveling direction, toward the periphery of the screen, and the motion vector increases as the periphery of the screen increases. Of course, the greater the speed of the vehicle, the greater the motion vector 124a.

(B) shows the distribution of the motion vector 124b when the vehicle turns to the left, and the radiation vector of the motion vector moves to the left side of the screen according to the steering angle. (C) shows the distribution of the motion vector 124c when the vehicle turns right and the motion vector radiation center moves to the right side of the screen.

The distribution in the screen of the vehicle movement amount (motion vector) 124 shown above depends on the mounting position and shooting direction of the video imaging device 107 to be mounted on the vehicle. Therefore, the vehicle motion calculation unit 104 acquires in advance the mounting position and shooting direction of the video imaging device 107, and based on this, the vehicle by the operator is obtained from the speed information and the steering angle information received from the operation information acquisition unit 103. The amount of motion (motion vector) 124 of the captured video based on the above operation is calculated.

Next, the operation of the image blur calculation unit 105 will be described. The video blur calculation unit 105 uses the ambient video motion amount 122 (MV1) calculated by the ambient video motion calculation unit 102 and the vehicle motion amount 124 (MV2) calculated by the vehicle motion calculation unit 104 to generate a video blur amount based only on vehicle vibration. (MV3) is calculated. Specifically, the difference amount (MV1-MV2) is obtained by subtracting the vehicle movement amount 124 (MV2) from the surrounding image movement amount 122 (MV1), and this is obtained as the image blur amount 125 (MV3) to the image blur correction unit 106. Output. That is, the component of the vehicle movement amount 124 (MV2) is removed from the image blur amount 125 (MV3).
The image blur amount 125 (MV3) is sent to the image blur correction unit 106 to correct the image blur for the vehicle surrounding image 121.

FIG. 6 is a diagram illustrating an example of the operation of the image blur correction unit 106.
4A is a reproduction of FIG. 4A, 401 is a vehicle surrounding image when the vehicle is not vibrating, 402 is a vehicle surrounding image when the vehicle vibrates to the upper right, and 403 is the vehicle surrounding image. The image around the vehicle when it vibrates in the lower left is shown. The shift in the upper right and lower left directions of each image corresponds to the image blur amount 125 (MV3) calculated by the image blur calculation unit 105, and the component due to the operation of the vehicle is removed, and only by the vibration of the vehicle. It is. Here, the video blur correction unit 106 sets a video cutout frame area indicated by a two-dot chain line, and cuts out each of the vehicle surrounding videos 401 to 403 and outputs the cutout video.

(B) to (d) show video cutout frames for the vehicle surrounding images 401 to 403, respectively. When there is no vehicle vibration, as shown in (b), the video cutout frame 601 is set so that the horizontal and vertical center points are the same with respect to the vehicle surrounding image 401. When the vehicle vibrates to the upper right, as shown in (d), an image cutout frame 602 in which the horizontal and vertical center points are shifted to the lower left with respect to the vehicle surrounding image 402 is set. When the vehicle vibrates to the lower left, as shown in (c), an image cutout frame 603 in which the horizontal and vertical center points are shifted to the upper right with respect to the vehicle surrounding image 403 is set. In either case, the shift amount is set according to the video blur amount 125 calculated by the video blur calculation unit 105.

As described above, by setting the image cutout frames 601 to 603 by shifting according to the image blur amount 125, the image to be cut out is corrected so that the image blur is removed and the same image range is obtained.

As described above, in the vehicle image processing device according to the first embodiment, the motion of the vehicle surrounding image is calculated from the plurality of temporally different vehicle surrounding images acquired by the video acquisition unit that acquires the surrounding image of the vehicle, and the vehicle The movement of the vehicle is calculated from the operation information, and the amount of image blur due to only the vibration of the vehicle is calculated from the difference between the surrounding image movement amount and the vehicle movement amount. Then, based on the calculated video blur amount, it is possible to reduce the video blur by correcting the cut-out position of the vehicle surrounding video and display the video following the vehicle operation.

In the first embodiment, the case where the video photographing device 107 is attached to the front of the vehicle has been described. In the second embodiment, the case where the video photographing device 107 is attached to the rear or side of the vehicle will be described. The configuration of the video processing device 107 in the second embodiment is the same as that in FIG. 1, and hereinafter, the vehicle motion amount 124 calculated by the vehicle motion calculation unit 104 will be described.

FIG. 7 is a diagram illustrating an example of the amount of vehicle movement calculated by the vehicle movement calculation unit 104 in the second embodiment. In this case, the video photographing device 107 is attached to the rear of the vehicle, and the photographing direction is opposite to the vehicle traveling direction.

(A) is a case where the vehicle goes straight, that is, the steering angle = 0 degree, and a motion vector 124a 'corresponding to the speed of the vehicle is calculated. The motion vector is generated radially from the periphery of the screen toward the center of the screen, which is the direction opposite to the traveling direction of the vehicle, and the motion vector increases toward the periphery of the screen.

(B) shows a distribution of a motion vector 124b 'in which the radiation center of the motion vector moves to the left side of the screen according to the steering angle when the vehicle turns left. (C) shows a distribution of a motion vector 124c ′ in which the radiation center of the motion vector moves to the right side of the screen when the vehicle turns to the right.

Next, FIG. 8 is a diagram showing the amount of vehicle movement when the image capturing device 107 is attached to the side of the vehicle. (A) shows the motion vector 124a ″ calculated when the video photographing device 107 is attached to the left side of the vehicle and the vehicle goes straight. Further, (b) shows the motion vector 124a ″ attached to the right side of the vehicle and the vehicle goes straight. A motion vector 124b "calculated sometimes is shown.

Also in the second embodiment, in the image blur calculation unit 105, the difference amount between the surrounding image motion amount 122 (MV1) calculated by the surrounding image motion calculation unit 102 and the vehicle motion amount 124 (MV2) described in FIG. 7 or FIG. From this, the image blur amount 125 (MV3) is calculated. Further, the image blur correction unit 106 corrects the vehicle surrounding image 121 based on the image blur amount 125 (MV3).

As described above, in the vehicular video processing apparatus according to the second embodiment, the amount of vehicle movement is calculated based on the vehicle mounting position of the video imaging apparatus 107 even when the video imaging apparatus 107 is mounted on the rear or side of the vehicle. I tried to do it. Thereby, the amount of image blur due to only the vibration of the vehicle is calculated from the difference between the amount of motion of the surrounding image and the amount of vehicle motion, and based on the calculated image blur, the image blur is reduced by correcting the clipping position of the vehicle surrounding image, An image following the vehicle operation can be displayed.

In the third embodiment, a case will be described in which at least a part of the host vehicle is reflected in the vehicle surrounding image 120 captured by the video imaging device 107 in the first or second embodiment. The configuration of the video processing apparatus 100 according to the third embodiment is the same as that in FIG. 1, and the vehicle movement amount 124 calculated by the vehicle movement calculation unit 104 will be described below.

FIG. 9 is a diagram illustrating an example of the amount of vehicle movement calculated by the vehicle movement calculation unit 104 in the third embodiment. In this case, the video photographing device 107 is attached to the front of the vehicle, and the photographing direction is the vehicle traveling direction. In FIG. 9, an area 900 indicates an area (for example, a bonnet) in which the subject vehicle is reflected in the vehicle surrounding image 121 captured by the image capturing device 107.

(A) shows an example in which the vehicle motion amount (motion vector) 124a is calculated when the vehicle is traveling straight. Among these, the reflection area 900 of the own vehicle is an area in which the image is not changed even when the vehicle moves and is always a still image. That is, when the above-described vehicle movement amount correction is performed in the area 900, an image of the own vehicle that is originally stationary moves or disappears in the screen, and an incorrect image is displayed. Therefore, the

motion vectors

911, 912, and 913 included in the area 900 are all corrected to zero, and the corrected motion vector is output to the image blur calculation unit 105 as the vehicle motion amount 124a as shown in (a ′).

(B) shows an example in which the vehicle motion amount (motion vector) 124b at the time of a left turn is calculated. Also in this case, the

motion vectors

921 and 922 included in the host vehicle area 900 are set to zero, and the corrected motion vector shown in (b ′) is output to the image blur calculation unit 105 as the vehicle motion amount 124b. Further, (c) shows an example in which a vehicle motion amount (motion vector) 124c at the time of a right turn is calculated. Also in this case, the

motion vectors

931 and 932 included in the host vehicle area 900 are set to zero, and the corrected motion vector shown in (c ′) is output to the image blur calculation unit 105 as the vehicle motion amount 124c.

As described above, in the vehicle image processing device according to the third embodiment, when at least a part of the host vehicle is captured in the vehicle surrounding image, the vehicle motion amount (motion vector) is calculated excluding the area of the host vehicle. Thus, it is possible to correct the image blur more accurately.

Embodiment 4 describes a case where the above-described video processing device is applied to a vehicle remote control system.

FIG. 10 is a block diagram showing an example of the configuration when the video processing apparatus is applied to a vehicle remote control system. Parts that are the same as those in the embodiment are given the same reference numerals, and descriptions thereof are omitted. The remote operation system includes a remote operation vehicle 1000 and a remote operation device 1001 for operating the vehicle, and the video processing device 100 described in the above embodiment is applied to the remote operation device 1001.

The remote operation vehicle 1000 includes an image capturing device 107 that captures images around the vehicle and a vehicle drive unit 1002 that drives the vehicle. The video imaging device 107 outputs the captured vehicle surrounding video to the remote control device 1001 via a transmission path 1020 that is either wireless or wired or both. The vehicle drive unit 1002 receives vehicle operation information output from the vehicle operation unit 108 included in the remote operation device 1001 via a transmission path 1021 that is either wireless or wired or both.

The remote operation device 1001 receives the video shot by the video shooting device 107, processes it by the video processing device 100, and displays it on the video display device 109. The vehicle operator operates the vehicle at the vehicle operation unit 108 while viewing the vehicle surrounding image displayed on the video display device 109, and the operation information is transmitted to the vehicle drive unit 1002. Further, since the remote operation vehicle 1000 and the remote operation device 1001 are connected via

transmission lines

1020 and 1021, the remote operation vehicle 1000 can be operated from a location apart from the location where the remote operation vehicle 1000 is located. Is possible.

In such a remote control system, the operator operates the vehicle 1000 while viewing the video on the video display device 109. However, image blurring occurs in the video displayed on the video display device 109 due to vibration of the remote control vehicle 1000. Then, the operability becomes worse. Therefore, by applying the video processing device 100 shown in the first to third embodiments to the remote operation device 1001, not only the blurring of the video displayed on the video display device 109 is reduced, but also the vehicle operation is followed. An image can be displayed.

As described above, in the remote operation system according to the fourth embodiment, in the remote operation device that remotely operates the vehicle, the movement of the display image following the vehicle operation is tracked, and the image blur of the display image due to the vibration of the vehicle is reduced. Therefore, the operability for the remotely operated vehicle is improved.

In the first to fourth embodiments, the output of the image blur correction unit 106 is displayed on the image display device 109 and used for assisting the operation of the vehicle operator. In addition, it is possible to output the image processing unit for detecting obstacles around the vehicle.

100: Vehicle image processing device,
101: Video acquisition unit
102: Ambient image motion calculation unit,
103: Operation information acquisition unit,
104: Vehicle motion calculation unit,
105: Image blur calculation unit,
106: Image blur correction unit,
107: video shooting device,
108: Vehicle operation unit,
109: Video display device,
120: Shooting video,
121, 221: Vehicle surrounding image,
122: Ambient image motion amount (motion vector MV1),
123: Vehicle operation information,
124: Vehicle movement amount (motion vector MV2),
125: Video blur amount (motion vector MV3),
126: Corrected vehicle surrounding image,
127: Operation information,
201: Video buffer unit,
202: Motion vector calculation unit,
401, 402, 403: Vehicle surrounding image,
601, 602, 603: video clipping frame,
900: Own vehicle area,
911 to 913, 921, 922, 931, 932: motion vectors in the host vehicle area,
1000: remotely operated vehicle,
1001: remote control device,
1020, 1021: Transmission path.

Claims

In a vehicle image processing device for processing a vehicle surrounding image captured by a video image capturing device attached to a vehicle,
An image acquisition unit for acquiring a vehicle surrounding image captured by the image capturing device;
A surrounding image motion calculating unit that calculates a motion amount (MV1) of the image from a plurality of vehicle surrounding images that are acquired by the image acquiring unit and that are different in time;
An operation information acquisition unit for acquiring operation information of the vehicle;
A vehicle motion calculation unit that calculates a motion amount (MV2) of a vehicle surrounding image accompanying the operation of the vehicle from the operation information acquired by the operation information acquisition unit;
A video blur calculation unit that subtracts the motion amount (MV2) calculated by the vehicle motion calculation unit from the motion amount (MV1) calculated by the surrounding video motion calculation unit, and calculates a video blur amount (MV3) due to vehicle vibration;
A video blur correction unit that performs video blur correction on the vehicle surrounding video acquired by the video acquisition unit based on the video blur amount (MV3) calculated by the video blur calculation unit;
An image processing apparatus for a vehicle, comprising:
The vehicle image processing device according to claim 1,
The operation information acquired by the operation information acquisition unit includes vehicle speed information and steering information.
The vehicle image processing device according to claim 1,
The vehicle motion calculation unit calculates a motion amount of a vehicle surrounding image accompanying the operation of the vehicle from the operation information based on an attachment position of the video imaging device to the vehicle and a shooting direction. Video processing device.
The vehicle image processing device according to claim 1,
The vehicle motion calculation unit corrects the amount of movement (MV2) in the reflection region to zero when the reflection region of the own vehicle exists in the vehicle surrounding image acquired by the video acquisition unit. An image processing apparatus for a vehicle, characterized in that
The vehicle image processing device according to claim 1,
The video blur correction unit shifts the position of the video clipping frame of the vehicle surrounding video acquired by the video acquisition unit based on the video blur amount (MV3) calculated by the video blur calculation unit, and cuts out the video. A video processing apparatus for vehicles.
In a remote control device for operating a remote control vehicle,
A vehicle operation unit that transmits operation information to the remote operation vehicle via a transmission line and performs an operation;
A vehicle image processing device for receiving and processing a vehicle surrounding image captured by the image capturing device attached to the remote operation vehicle;
An image display device for displaying a vehicle surrounding image processed by the vehicle image processing device,
The vehicle image processing device includes:
A video acquisition unit that receives a vehicle surrounding image captured by the video imaging device via a transmission path;
A surrounding image motion calculating unit that calculates a motion amount (MV1) of the image from a plurality of vehicle surrounding images that are received by the image acquisition unit in time;
An operation information acquisition unit for acquiring operation information of the remote operation vehicle from the vehicle operation unit;
A vehicle motion calculation unit that calculates a motion amount (MV2) of a vehicle surrounding image associated with the operation of the remotely operated vehicle from the operation information acquired by the operation information acquisition unit;
Video blur calculation for subtracting the motion amount (MV2) calculated by the vehicle motion calculation unit from the motion amount (MV1) calculated by the surrounding video motion calculation unit to calculate a video blur amount (MV3) due to vibration of the remotely operated vehicle. And
A video blur correction unit that performs video blur correction of the vehicle surrounding video received by the video acquisition unit based on the video blur amount (MV3) calculated by the video blur calculation unit;
A remote control device characterized by comprising: