Video processing method and video processing apparatus

Abstract

To properly correct a change in a video image when the video image photographed by a camera is changed due to, for example, thermal expansion of a lens of the camera.SOLUTION: In a video processing method for processing a video of a camera mounted on a vehicle, the video is received from the camera, an elapsed time after the vehicle is started is specified, the video is corrected according to the elapsed time, and the corrected video is displayed on a predetermined display unit.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a video processing method and a video processing device. [Background technology]

[0002] If the optical axis of a camera lens is misaligned, the captured image also changes. Patent Document 1 discloses a method for determining optical axis misalignment in a lens barrel device having a retractable structure in which each lens group is retracted away from the optical axis, by determining optical axis misalignment from the deviation value between the luminance value of a specific location where luminance unevenness due to optical axis misalignment is expected and the luminance value of a central location where luminance unevenness is minor even with optical axis misalignment. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-161663 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, vehicles have been equipped with multiple cameras that capture images of the front, back, left, and right of the vehicle, and the images captured by the multiple cameras can be transformed and combined to generate and display an overhead image that appears to be a bird's-eye view of the vehicle.

[0005] However, if the lens of one of the cameras expands due to heat or other reasons, causing a change in the image captured by that camera, the image captured by that camera in the overhead view image will become misaligned with the images captured by the other cameras. This misalignment of some images in the overhead view image is unattractive and reduces the safety of the driver.

[0006] Therefore, an object of the present disclosure is to provide a technology for appropriately correcting changes in an image when, for example, the lens of a camera expands thermally and the image captured by the camera changes. [Means for solving the problem]

[0007] One aspect of the present disclosure provides an image processing method for processing images from a camera mounted on a vehicle, which receives images from the camera, determines the elapsed time since the vehicle was started, corrects the images according to the elapsed time, and displays the corrected images on a specified display unit.

[0008] One aspect of the present disclosure provides an image processing device that processes images from a camera mounted on a vehicle, the image processing device comprising: a communication unit that receives images from the camera; and a processing unit, wherein the processing unit determines the elapsed time since the vehicle was started, corrects the image according to the elapsed time, and displays the corrected image on a specified display unit.

[0009] These comprehensive or specific aspects may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium. [Effects of the Invention]

[0010] According to the present disclosure, for example, when a camera lens undergoes thermal expansion or the like and the image captured by the camera changes, the change in the image can be appropriately corrected. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram illustrating a configuration example of a vehicle according to a first embodiment; [Figure 2] FIG. 1 is a diagram for explaining problems with overhead images in conventional vehicles. [Figure 3] FIG. 1 is a block diagram showing an example of the configuration of a device provided in a vehicle according to an embodiment; [Figure 4] FIG. 10 is a diagram showing an example of a camera temperature rise table according to the first embodiment; [Figure 5] FIG. 10 is a diagram showing an example of a correction amount table according to the first embodiment; [Figure 6] 1 is a flowchart showing an example of a correction process for a rear image according to the first embodiment; [Figure 7] FIG. 1 is a schematic diagram showing an example of a corrected overhead image according to the first embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with appropriate reference to the drawings. However, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the subject matter recited in the claims. Furthermore, the function of one configuration shown in the embodiments of the present disclosure may be realized by two or more physical configurations, or the functions of two or more configurations may be realized by, for example, one physical configuration.

[0013] (Embodiment 1) FIG. 1 is a schematic diagram showing an example of the configuration of a vehicle 1 according to the first embodiment.

[0014] The vehicle 1 has front wheels 2A and rear wheels 2B and is capable of moving in a predetermined direction. In Fig. 1, the vehicle 1 has four wheels, but the vehicle 1 may have any number of wheels.

[0015] The vehicle 1 is equipped with a front camera 11, a rear camera 12, a left camera 13, and a right camera 14.

[0016] The front camera 11 is installed in front of the vehicle 1 (for example, on the front grill), and captures an image of an area including the ground in front of the vehicle 1 (hereinafter referred to as the front area 21) at a predetermined interval, thereby generating a front image 31.

[0017] The rear camera 12 is installed at the rear of the vehicle 1 (for example, below the rear trunk door) and captures an area including the ground behind the vehicle 1 (hereinafter referred to as the rear area 22) at a predetermined interval to generate a rear image 32.

[0018] The left camera 13 is installed on the left side of the vehicle 1 (for example, on the left door mirror) and captures an area including the ground on the left side of the vehicle 1 (hereinafter referred to as the left area 23) at a predetermined interval to generate a left image 33.

[0019] The right camera 14 is installed on the right side of the vehicle 1 (e.g., the right door mirror) and captures an area including the ground on the right side of the vehicle 1 (hereinafter referred to as the right area 24) at a predetermined interval to generate a right image 34.

[0020] The predetermined periods at which the front camera 11, rear camera 12, left camera 13, and right camera 14 take images may be synchronized. For example, the front camera 11, rear camera 12, left camera 13, and right camera 14 may take images at approximately the same time.

[0021] Vehicle 1 transforms and combines front image 31, rear image 32, left image 33, and right image 34 to generate and display overhead image 30 that appears to be a bird's-eye view of vehicle 1. This allows the driver to easily grasp the situation all around vehicle 1 by looking at overhead image 30.

[0022] FIG. 2 is a diagram for explaining the problems with overhead images in a conventional vehicle.

[0023] The front camera 11, rear camera 12, left camera 13 and right camera 14 are calibrated in advance so that there is no misalignment between the images when the front image 31, rear image 32, left image 33 and right image 34 are combined to generate the overhead image 30.

[0024] However, when power is applied to the camera for a long period of time, the camera generates heat, causing the lens (e.g., a plastic lens) to thermally expand. Thermal expansion of the camera lens changes the captured image. For example, if rear camera 12 is manufactured by a different manufacturer than left camera 13 and right camera 14, the thermal expansion coefficient of the rear camera 12 lens will be different from the thermal expansion coefficient of the left camera 13 and right camera 14 lenses. In this case, the amount of change in rear image 32 caused by thermal expansion of the rear camera 12 lens due to the same long period of power application will differ from the amount of change in left image 33 and right image 34 caused by thermal expansion of the left camera 13 and right camera 14 lenses. Therefore, when the changed rear image 32, left image 33, and right image 34 are combined to generate an overhead image 30, the rear image 32 will be misaligned with the left image 33 and right image 34, as shown in FIG. 2 .

[0025] In the first embodiment, a method for correcting the rear image 32 that changes when the rear camera 12 generates heat due to power being applied for a long period of time and the lens expands due to heat, etc., will be described. Note that in this embodiment, the rear camera 12 is described as being different from the other left camera 13 and right camera 14, but the contents of the description can be applied to any of the front camera 11, left camera 13, and right camera 14.

[0026] <Configuration of devices equipped in the vehicle> FIG. 3 is a block diagram showing an example of the configuration of the device provided in the vehicle 1 according to the first embodiment.

[0027] The vehicle 1 includes a front camera 11, a rear camera 12, a left camera 13, a right camera 14, an ambient temperature sensor 41, a time measurement device 42, an input device 43, a display device 44, and an image processing device 50. The image processing device 50 may be read as an Electronic Control Unit (ECU).

[0028] The front camera 11, rear camera 12, left camera 13, and right camera 14 are as described with reference to FIG.

[0029] The environmental temperature sensor 41 is a sensor that measures the temperature of the environment outside the vehicle 1 (hereinafter referred to as the environmental temperature). Note that the environmental temperature may be interpreted as the temperature around the vehicle 1.

[0030] The time measurement device 42 is a device that measures the current time. The time measurement device 42 may receive a GNSS signal, for example, to measure the accurate current time.

[0031] The video processing device 50 generates the overhead view video 30 and displays it on the display device 44. The video processing device 50 includes a processing unit 51, a storage unit 52, a communication unit 53, an input unit 54, and an output unit 55.

[0032] The processing unit 51 cooperates with the storage unit 52 and the like to perform processing for realizing the functions of the video processing device 50. These functions will be explained as appropriate. The processing unit 51 may be interpreted as a processor, a central processing unit (CPU), a large scale integration (LSI), and / or a field programmable gate array (FPGA), etc.

[0033] The storage unit 52 is configured by a volatile storage medium (e.g., Random Access Memory (RAM)) and a non-volatile storage medium (e.g., Read-Only Memory (ROM) and flash memory). The storage unit 52 stores programs, data, etc. for implementing the functions of the video processing device 50. The processing unit 51 may implement the functions of the video processing device 50 by reading and executing the programs, data, etc. from the storage unit 52. The storage unit 52 also stores in advance a camera temperature rise table 100 and a correction amount table 200. The camera temperature rise table 100 and the correction amount table 200 will be described later (see FIGS. 4 and 5).

[0034] The communication unit 53 is connected to the front camera 11, rear camera 12, left camera 13, and right camera 14, and receives the front image 31, rear image 32, left image 33, and right image 34. The communication unit 53 is connected to the ambient temperature sensor 41 and receives the ambient temperature. The communication unit 53 is connected to a time measurement device and receives the current time. The communication unit 53 and these devices are connected by, for example, an in-vehicle network. Examples of in-vehicle networks include a Controller Area Network (CAN), a Local Interconnect Network (LIN), FlexRay, Media Oriented Systems Transport (MOST), and in-vehicle Ethernet.

[0035] An input device that accepts input operations from the driver or passengers of the vehicle 1 is connected to the input unit 54. A display device 44 is connected to the output unit 55. The input device 43 and the display device 44 may be an integrated touch panel display. The input device 43 may include buttons, dials, etc. A plurality of display devices 44 may be installed inside the vehicle 1. The input device 43 and the display device 44 may be included in, for example, a car navigation system and an In-Vehicle Infotainment (IVI) system.

[0036] 4 is a diagram showing an example of the camera temperature rise table 100 according to the first embodiment. Note that the camera temperature rise table 100 may be read as the first information.

[0037] The camera temperature rise table 100 holds the relationship between the power-on time of the rear camera 12 and the temperature rise value. In other words, the camera temperature rise table 100 indicates how much the temperature of the rear camera 12 rises depending on the power-on time. The relationship between the power-on time and the temperature rise value in the camera temperature rise table 100 may be determined, for example, through experiments by the manufacturer of the rear camera 12. In other words, the contents of the camera temperature rise table 100 may differ depending on the camera manufacturer or the type of camera.

[0038] The relationship between the power supply time and the temperature rise value does not have to be proportional. For example, as shown in the camera temperature rise table 100 in Figure 4, the temperature rise value may initially increase as the power supply time increases, but once the power supply time becomes longer to a certain extent, the temperature rise value may not change much.

[0039] For example, the camera temperature rise table 100 shown in FIG. 4 indicates that the temperature rise value when the power supply time is 10 minutes is 5K (Kelvin), when the power supply time is 30 minutes is 18K, and when the power supply time is 60 minutes is 24K.

[0040] 5 is a diagram showing an example of the correction amount table 200 according to the first embodiment. The correction amount table 200 may be read as second information.

[0041] Correction amount table 200 is a table that stores the total value of the environmental temperature and the temperature rise value in association with the correction amount in the optical axis direction (Y direction in this embodiment) of rear image 32. In other words, correction amount table 200 indicates how much rear image 32 should be corrected according to the total value of the environmental temperature and the temperature rise value.

[0042] The correction amount may be an amount for correcting a change in image height due to thermal expansion caused by a rise in temperature of the lens (plastic lens) of rear camera 12. The correction amount may be the number of pixels indicating how much rear image 32 is shifted in the positive direction of the Y axis. However, the correction amount is not limited to this and may be, for example, the amount of deformation of rear image 32.

[0043] The relationship between the correction amount and the total value of the environmental temperature and the temperature rise value in the correction amount table 200 may be determined, for example, through an experiment by the manufacturer of the rear camera 12. In other words, the contents of the correction amount table 200 may differ depending on the camera manufacturer or the camera type.

[0044] For example, the correction amount table 200 shown in FIG. 5 indicates that the correction amount when the total value of the environmental temperature and the temperature rise value is 40° C. is 10 pixels.

[0045] The correction amount table 200 may be a table that stores the temperature rise value and the correction amount in association with each other without taking into consideration the environmental temperature.

[0046] <Rear image correction processing> Fig. 6 is a flowchart showing an example of a correction process for rearward image 32 according to embodiment 1. Fig. 7 is a schematic diagram showing an example of a corrected overhead image 30 according to embodiment 1. Next, with reference to Figs. 6 and 7, a method will be described in which image processing device 50 corrects a shift in rearward image 32 caused by a temperature rise in rearward camera 12 to generate overhead image 30.

[0047] The processing unit 51 of the video processing device 50 starts the processing shown in FIG. 6 when the ignition of the vehicle 1 is turned on (when the vehicle 1 starts).

[0048] The processing unit 51 acquires the current time from the time measurement device 42 via the communication unit 53, and stores it as the start time in the storage unit 52 (S101).

[0049] The processing unit 51 acquires the environmental temperature from the environmental temperature sensor 41 via the communication unit 53 and stores it in the storage unit 52 (S102). For example, the processing unit 51 acquires an environmental temperature of "22°C." Note that the processing unit 51 may periodically acquire the environmental temperature from the environmental temperature sensor 41 and update the environmental temperature in the storage unit 52.

[0050] The processing unit 51 acquires the current time from the time measurement device, and calculates the elapsed time from the start time to the current time (S103).

[0051] The processing unit 51 identifies (estimates) a temperature rise value according to the power-on time corresponding to the elapsed time calculated in step S103 from the camera temperature rise table 100 (S104). For example, when the power-on time is 30 minutes, the processing unit 51 identifies (estimates) a temperature rise value of "18K" by referring to the camera temperature rise table 100 shown in FIG.

[0052] The processing unit 51 calculates the sum of the environmental temperature acquired in step S102 and the temperature rise value identified in step S104 (S105). For example, the processing unit 51 calculates the sum of the environmental temperature "22°C" and the temperature rise value "18K" to "40°C."

[0053] The processing unit 51 identifies the correction amount corresponding to the total value calculated in step S105 from the correction amount table 200 (S106). For example, the processing unit 51 refers to the correction amount table 200 shown in Fig. 5 and identifies the correction amount "10 pixels" corresponding to the total value "40°C" of the ambient temperature and the temperature rise value. Note that if the ambient temperature is not taken into consideration, the processing unit 51 may identify the correction amount corresponding to the temperature rise value identified in step S104 from the correction amount table 200.

[0054] The processing unit 51 shifts the rear image 32 in the positive direction of the Y axis by the correction amount (for example, 10 pixels) identified in step S106, and generates a corrected rear image 32A (see FIG. 7) (S107).

[0055] The processing unit 51 stores the power supply time and the temperature rise value in the storage unit 52 (S108).

[0056] Processing unit 51 transforms and combines front image 31, left image 33, right image 34, and corrected rear image 32A to generate overhead image 30, which is displayed on display device 44 via output unit 55 (S109). As a result, as shown in FIG. 7, overhead image 30 with little deviation between corrected rear image 32A and the adjacent left image 33 and right image 34 can be displayed on display device 44.

[0057] The processing unit 51 determines whether the ignition of the vehicle 1 has been turned off (S110). If the ignition of the vehicle 1 remains on (S110: NO), the processing unit 51 returns the process to step S103. If the ignition of the vehicle 1 has been turned off (S110: YES), the processing unit 51 ends this process.

[0058] Through the above processing, image processing device 50 corrects the misalignment of rearward image 32 caused by thermal expansion accompanying a temperature rise in the lens of rearward camera 12, and can display overhead image 30 with little misalignment between corrected rearward image 32A and adjacent left-side image 33 and right-side image 34. This improves the appearance of overhead image 30 and improves driver safety.

[0059] It is also possible for the video processing device 50 to acquire camera temperature information directly from the camera, but in this case, the camera must have the function of transmitting temperature information. However, the camera desired to be installed in the vehicle 1 does not necessarily have the function of transmitting temperature information, and installing such a function increases the cost of the camera. In contrast, according to this embodiment, the camera temperature rise value can be estimated from the power-on time using the camera temperature rise table 100, so the camera does not need to have the function of transmitting temperature information. This broadens the range of cameras to be installed in the vehicle 1 and leads to reduced camera costs.

[0060] (Summary of the first embodiment) The above description of the first embodiment discloses the following techniques.

[0061] <Technology 1> An image processing method for processing an image from a camera (e.g., rear camera 12) mounted on a vehicle (1) receives an image (e.g., rear image 32) from the camera, identifies the elapsed time since the vehicle was started, corrects the image according to the elapsed time, and displays the corrected image (e.g., corrected rear image 32A) on a predetermined display unit (e.g., display device 44). This allows the image to be displayed after correcting changes that occur due to an increase in the camera temperature.

[0062] <Technology 2> In the image processing method described in Technology 1, first information (e.g., camera temperature rise table 100) indicating the relationship between the power-on time of the camera and the temperature rise, and second information (e.g., correction amount table 200) indicating the relationship between the temperature rise of the camera and the correction amount of the image are stored in advance, and in the correction, the temperature rise of the camera according to the power-on time corresponding to the elapsed time is estimated based on the first information, the correction amount according to the estimated temperature rise is specified based on the second information, and the image is corrected using the specified correction amount. This makes it possible to estimate the temperature rise of the camera according to the power-on time corresponding to the elapsed time, and to appropriately correct the change in the image caused by the temperature rise of the camera using the correction amount according to the estimated temperature rise.

[0063] <Technology 3> In the image processing method described in Technology 2, the ambient temperature (e.g., environmental temperature) of the vehicle is acquired, and in the correction, the correction amount corresponding to the estimated temperature rise and the acquired ambient temperature is determined based on the second information. This allows a more appropriate correction amount to be determined by taking into consideration the ambient temperature of the vehicle in addition to the temperature rise of the camera.

[0064] <Technology 4> In the image processing method described in Technique 2 or 3, the camera includes a plastic lens, and the correction amount in the second information is an amount for correcting a change in image height caused by expansion of the plastic lens due to a rise in temperature. This makes it possible to appropriately correct changes in image height (changes in the image) that occur due to expansion of the lens caused by an increase in temperature.

[0065] <Technology 5> In the image processing method described in any one of techniques 1 to 4, the camera is a first camera (e.g., rear camera 12), the vehicle is equipped with a second camera (e.g., left camera 13 or right camera 14) different from the first camera, and the corrected image of the first camera (e.g., corrected rear image 32A) and the image of the second camera are synthesized and displayed on the display unit. This makes it possible to prevent the image from being misaligned between the image from the first camera (for example, rear image 32) and the image from the second camera (for example, left image 33 or right image 34) in the combined image (for example, overhead image).

[0066] <Technology 6> An image processing device (50) that processes images from a camera (e.g., rear camera 12) mounted on a vehicle (1) includes a communication unit (53) that receives images from the camera, and a processing unit (51), and the processing unit identifies the elapsed time since the vehicle was started, corrects the image according to the elapsed time, and displays the corrected image (e.g., corrected rear image 32A) on a predetermined display unit (e.g., display device 44). This allows the image to be displayed after correcting changes that occur due to an increase in the camera temperature.

[0067] <Technology 7> The image processing device described in Technology 6 further includes a memory unit (52) that pre-stores first information (e.g., a camera temperature rise table 100) indicating the relationship between the power-on time of the camera and the temperature rise, and second information (e.g., a correction amount table 200) indicating the relationship between the temperature rise of the camera and the correction amount of the image, and in the correction, the processing unit estimates the temperature rise of the camera according to the power-on time corresponding to the elapsed time based on the first information, specifies the correction amount according to the estimated temperature rise based on the second information, and corrects the image using the specified correction amount. This makes it possible to estimate the temperature rise of the camera according to the power-on time corresponding to the elapsed time, and to appropriately correct the change in the image caused by the temperature rise of the camera using the correction amount according to the estimated temperature rise.

[0068] <Technology 8> In the image processing device described in Technology 7, the processing unit acquires the ambient temperature (e.g., environmental temperature) of the vehicle, and in the correction, determines the correction amount according to the estimated temperature rise and the acquired ambient temperature based on the second information. This allows a more appropriate correction amount to be determined by taking into consideration the ambient temperature of the vehicle in addition to the temperature rise of the camera.

[0069] <Technology 9> In the image processing device according to Technique 7 or 8, the camera includes a plastic lens, and the correction amount in the second information is an amount for correcting a change in image height caused by expansion of the plastic lens due to a temperature rise. This makes it possible to appropriately correct changes in image height (changes in the image) that occur due to expansion of the lens caused by an increase in temperature.

[0070] <Technology 10> In the image processing device described in any one of Techniques 6 to 9, the camera is a first camera (e.g., rear camera 12), the vehicle is equipped with a second camera (e.g., left camera 13 or right camera 14) different from the first camera, and the processing unit combines the corrected image of the first camera (e.g., corrected rear image 32A) with the image of the second camera and displays it on the display unit. This makes it possible to prevent the image from being misaligned between the image from the first camera (for example, rear image 32) and the image from the second camera (for example, left image 33 or right image 34) in the combined image (for example, overhead image).

[0071] Although the embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components in the above-described embodiments may be combined in any manner without departing from the spirit of the invention. [Industrial Applicability]

[0072] The technology of the present disclosure is useful for correcting images captured by a camera mounted on a vehicle. [Explanation of symbols]

[0073] 1 vehicle 2A front wheel 2B rear wheel 11. Front camera 12 Rear camera 13 Left camera 14 Right camera 30 Bird's-eye view 31 Front image 32,32A Rear view 33 Left image 34 Right side image 41 Environmental temperature sensor 42 Time measurement device 43 Input Devices 44 Display device 50 Image processing device 51 Processing section 52 Storage section 53 Communications Department 54 Input section 55 Output section 100 Camera Temperature Rise Table 200 Correction amount table

Claims

1. An image processing method for processing an image captured by a camera mounted on a vehicle, comprising: receiving an image from the camera; determining an elapsed time since the vehicle was started; Correcting the video in accordance with the elapsed time; The corrected image is displayed on a predetermined display unit. Image processing method.

2. 2. The video processing method according to claim 1, storing in advance first information indicating a relationship between a power-on time of the camera and a temperature rise, and second information indicating a relationship between the temperature rise of the camera and a correction amount of the image; In the amendment, estimating the temperature rise of the camera according to the power-on time corresponding to the elapsed time based on the first information; determining the correction amount corresponding to the estimated temperature rise based on the second information; correcting the image using the determined correction amount; Image processing method.

3. 3. The video processing method according to claim 2, obtaining an ambient temperature of the vehicle; In the amendment, determining the correction amount according to the estimated temperature rise and the acquired ambient temperature based on the second information; Image processing method.

4. 3. The video processing method according to claim 2, the camera includes a resin lens; the correction amount in the second information is an amount for correcting a change in image height caused by expansion of the resin lens due to a temperature rise; Image processing method.

5. 5. A video processing method according to claim 1, further comprising: The camera is a first camera, the vehicle includes a second camera different from the first camera; the corrected image from the first camera and the image from the second camera are combined and displayed on the display unit. Image processing method.

6. An image processing device that processes images from a camera mounted on a vehicle, a communication unit that receives an image from the camera, and a processing unit; The processing unit determining an elapsed time since the vehicle was started; Correcting the video in accordance with the elapsed time; The corrected image is displayed on a predetermined display unit. Image processing equipment.

7. 7. The video processing device according to claim 6, a storage unit that stores in advance first information indicating a relationship between a power-on time of the camera and a temperature rise, and second information indicating a relationship between a temperature rise of the camera and a correction amount of the image, The processing unit In the amendment, estimating the temperature rise of the camera according to the power-on time corresponding to the elapsed time based on the first information; determining the correction amount corresponding to the estimated temperature rise based on the second information; correcting the image using the determined correction amount; Image processing equipment.

8. 8. The video processing device according to claim 7, The processing unit obtaining an ambient temperature of the vehicle; In the amendment, determining the correction amount according to the estimated temperature rise and the acquired ambient temperature based on the second information; Image processing equipment.

9. 8. The video processing device according to claim 7, the camera includes a resin lens; the correction amount in the second information is an amount for correcting a change in image height caused by expansion of the resin lens due to a temperature rise; Image processing equipment.

10. 10. The video processing device according to claim 6, The camera is a first camera, the vehicle includes a second camera different from the first camera; The processing unit the corrected image from the first camera and the image from the second camera are combined and displayed on the display unit. Image processing equipment.

Images