Image processor and image processing method for a vehicle
An image processing device and vehicle technology, applied in image data processing, image enhancement, image communication and other directions, can solve the problem of high processing load of the vehicle image processing device
Active Publication Date: 2009-09-23
NISSAN MOTOR CO LTD
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In addition, in order to create a complete overlooking image that combines multiple camera images and makes the joints between the images consistent and without distortion, it is necessary to set the actual installation position, installation direction, and lens parameters (lens file) of each camera on the vehicle body. No errors are consistent, but these errors occur for each vehicle during camera installation operations
[0005] These errors can be corrected by using the vehicle-mounted image processing device of the above document to correct the deviation and distortion of the bird's-eye view image, but in order to detect the installation error of each camera, the address conversion table is recalculated in the device based on the error, and the processing load of the vehicle-mounted image processing device becomes high, so it is necessary to use a computing device with high processing power
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[0020] Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0021] The present invention applies for example to figure 1 An in-vehicle image processing device 1 having the configuration shown is shown. This in-vehicle image processing device 1 is as follows: through the input buffer 12A, 12B, 12C, 12D corresponding to each camera module 2A, 2B, 2C, 2D, the camera of the vehicle surroundings photographed by the camera module 2A, 2B, 2C, 2D is input. The image data is passed through the CPU 13 and the image conversion unit 14, and the viewpoint conversion process is performed using the address conversion table stored in the table storage unit 15 to create a bird's-eye view image around the vehicle, and the bird's-eye view image data is stored in the output buffer 16 and output to Monitor 3. The vehicle-mounted image processing device 1, for example, through figure 2 The shown functional parts 41-43 reconfigure the default addr...
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The invention provides a vehicle image processing device and a vehicle image processing method. Make bird's-eye images from multiple images with simple processing. An input buffer for storing camera image data captured by each camera module and an output buffer for storing bird's-eye view images are provided, and camera image data for creating bird's-eye view images are taken out from the input buffers, and the camera image data is stored in the output buffer , the address conversion table for storing the bird's-eye view image in the output buffer is stored in the table storage unit in advance. The address conversion table is an address after reconstructing the address conversion table for storing the bird's-eye view image in the output buffer in the state where there is no installation error of the camera module to the vehicle, based on parameters for correcting the installation error of the camera module to the vehicle. The conversion table stores the camera image data in the output buffer by the image conversion unit according to the address conversion table.
Description
technical field [0001] The present invention relates to an in-vehicle image processing device and an image processing method for a vehicle, which convert viewpoints from a plurality of images captured around a vehicle, and present bird's-eye images to drivers and the like. Background technique [0002] Conventionally, as a technique for changing image data captured by a camera mounted on a vehicle into bird's-eye view image data and displaying the bird's-eye view image on a monitor in the vehicle, JP 2004-64441 and the like are known. Vehicle image processing device. [0003] This in-vehicle image processing device detects the angle between the road surface and the camera mounted on the vehicle body as a pitch angle [degree] in the global coordinate system, and creates a camera image data conversion system for converting the image captured by the camera based on the pitch angle. It is an address conversion table of bird's-eye view image data. In this vehicle-mounted image ...
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IPC IPC(8): H04N7/18
CPCG06T5/006G06K2009/2045H04N7/181G06V10/16
Inventor 铃木政康大泉谦赤塚健
Owner NISSAN MOTOR CO LTD