IMAGE PROCESSING APPARATUS, IMAGE PROCESSING SYSTEM, IMAGE PROCESSING METHOD, AND PROGRAM

Abstract

To provide an image processing device that can provide an excellent rear field of view, even when a photographing part is arranged to be offset from a center in a width direction of a vehicle, an image processing method, an image processing method and a program.SOLUTION: An image forming device includes: an image obtaining part, arranged at a rear part of a vehicle to be offset with respect to a center in a width direction of the vehicle, which obtains images photographed by a photographing part which photographs a view behind; and a control part that corrects a position of the behind-view image which is displayed on a display part provided in the vehicle, of the images obtained by the image obtaining part, so that positional shift in the width direction of a following vehicle in the behind-view image is suppressed on the basis of an offset amount in the width direction of the photographing part and a distance between the vehicle and the following vehicle.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to an image processing device, an image processing system, an image processing method, and a program. [Background technology]

[0002] Conventionally, there has been a surveillance system that is equipped with a camera that is installed at the rear of a vehicle, offset from the longitudinal center line, to capture images of the rear of the vehicle, and an image processing unit that receives an image captured by the camera, generates a rear image of the area behind the vehicle from the input camera image, and displays it on a display device, the image processing unit performing image processing so that the vertical center of the rear image approximately coincides with the longitudinal center line of the vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-374523 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the imaging unit is offset from the center of the vehicle in the width direction and an image including a following vehicle is displayed on the display unit inside the vehicle, the amount of positional deviation of the following vehicle from the center of the width direction of the image changes depending on the distance between the vehicle and the following vehicle. Specifically, the closer the following vehicle is, the greater the amount of positional deviation. For this reason, the rear view obtained through the display unit is poor, which may cause discomfort to the user.

[0005] Therefore, an object of the present invention is to provide an image processing device, an image processing system, an image processing method, and a program that can provide good rear visibility even if the imaging unit is positioned offset from the center in the vehicle's width direction. [Means for solving the problem]

[0006] An image processing device according to an embodiment of the present invention includes an image acquisition unit that acquires an image captured by an imaging unit that is provided at the rear of the vehicle and offset from the center of the vehicle in the width direction to capture an image of the rear, and a control unit that corrects the position of a rear image to be displayed on a display unit provided on the vehicle, from among the images acquired by the image acquisition unit, based on an offset amount of the imaging unit in the width direction and the distance between the vehicle and the following vehicle, so that positional deviation in the width direction of the following vehicle in the rear image is suppressed. Effect of the Invention

[0007] It is possible to provide an image processing device, an image processing system, an image processing method, and a program that can provide good rear visibility even if the imaging unit is positioned offset from the center in the vehicle's width direction. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing a vehicle 10 on which an image processing device and an image processing system according to an embodiment are mounted. [Diagram 2] FIG. 1 illustrates an image processing system 100. [Diagram 3] FIG. 2 is a diagram illustrating an example of a hardware configuration of an image processing device 130. [Figure 4] FIG. 1 is a diagram showing a configuration of an image processing device 130. [Diagram 5] FIG. 11 is a flowchart showing the processing executed by the image processing device 130. [Figure 6] 13 is a diagram showing an example of a rear image extracted from the camera 120 when the control unit 134 does not perform correction. FIG. [Figure 7] 1 shows a cut-out position PC corrected by a correction amount CA and a cut-out position P0 not corrected by the correction amount CA in an image 50 captured by a camera 120. FIG. [Figure 8] FIG. [Figure 9]10A to 10C are diagrams illustrating a method for acquiring a rear image 60 according to a modified example of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments to which an image processing device, an image processing system, an image processing method, and a program according to the present invention are applied will be described.

[0010] <Embodiment> 1 is a diagram showing a vehicle 10 on which an image processing device and an image processing system according to an embodiment are mounted. In the following, an XYZ coordinate system is defined and described. A direction parallel to the X axis (X direction), a direction parallel to the Y axis (Y direction), and a direction parallel to the Z axis (Z direction) are mutually orthogonal. The +X direction represents the front direction of the vehicle 10, the -X direction represents the rear direction of the vehicle 10, the +Y direction represents the left direction, the -Y direction represents the right direction, the +Z direction represents the upward direction, and the -Z direction represents the downward direction. In the following, the length, width, thickness, etc. of each part may be exaggerated to make the configuration easier to understand.

[0011] Vehicle 10 has a rear spoiler 12 provided above rear window 11. FIG. 1 shows center C of vehicle 10 in the width direction (Y direction). A high mounted stop lamp 13 is provided on rear spoiler 12. The center of high mounted stop lamp 13 in the Y direction coincides with center C of vehicle 10 in the width direction. For this reason, camera 120 is provided on the left side of high mounted stop lamp 13, as an example. Camera 120 is an example of an imaging unit that captures an image of the rear of vehicle 10. Camera 120 is provided offset from center C in the width direction of vehicle 10. The offset amount of camera 120 from center C in the width direction of vehicle 10 is given by a design value of vehicle 10.

[0012] 2 is a diagram showing an image processing system 100. The image processing system 100 is an electronic mirror system mounted on a vehicle 10 (see FIG. 1). The image processing system 100 includes a display 110, a camera 120, and an image processing device 130. Here, the display 110 and the image processing device 130 are shown separately, but the image processing device 130 may be provided within the housing of the display 110.

[0013] The display 110 is an example of a display unit. As an example, the display 110 is attached in place of a rearview mirror inside the vehicle 10. The display 110 may be of a type that is attached in place of the rearview mirror after removing the rearview mirror, or may be of a type that is attached by covering the rearview mirror. As an example, the display 110 is a display device that uses liquid crystal or organic EL (Electroluminescence), and displays a rear image generated by the image processing device 130 based on an image captured by the camera 120. The display 110 may include a touch panel that accepts input operations from a user, operation buttons, a power button, and the like.

[0014] Camera 120 is an example of an imaging unit, which captures an image (video) of the rear of vehicle 10 and outputs it to image processing device 130. As described above, camera 120 is provided at the rear of vehicle 10, offset to the left with respect to center C of vehicle 10 in the width direction, and captures an image of the rear of vehicle 10. As an example, camera 120 has a horizontal angle of view of 43 degrees and a vertical angle of view of 9 degrees.

[0015] The image processing device 130 performs image processing to correct the position of the rear image to be displayed on the display 110 from among the images acquired by the camera 120, based on the offset amount of the camera 120 in the width direction of the vehicle 10 and the distance between the vehicle 10 and the following vehicle, so as to suppress positional deviation of the following vehicle in the width direction of the vehicle 10 in the rear image.

[0016] 3 is a diagram showing an example of a hardware configuration of the image processing device 130. The image processing device 130 has a typical computer configuration, and includes, for example, a CPU (Central Processing Unit) 301, a memory 302, a storage device 303, a communication I / F (Interface) 304, an external connection I / F 305, a GPU (Graphics Processing Unit) 306, and a system bus 307.

[0017] The CPU 301 is a calculation device that executes each function of the image processing device 130 by executing programs stored in, for example, the storage device 303, the memory 302, etc. The memory 302 includes, for example, a RAM (Random Access Memory) that is a volatile memory used as a work area or the like for the CPU 301, and a ROM (Read Only Memory) that is a non-volatile memory that stores a program for starting up the image processing device 130, etc.

[0018] The storage device 303 is a large-capacity storage device that stores, for example, an OS (Operating System), application programs, and various data, and is realized by, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like.

[0019] The communication I / F 304 is an interface for communicating with an external device. For example, the communication I / F 304 connects the image processing device 130 to an in-vehicle network, and enables communication with one or more ECUs, cameras, and the like mounted on the vehicle 10. The communication I / F 304 may also enable communication with an external device via a wireless LAN (Local Area Network), short-distance wireless communication, or the like.

[0020] The external connection I / F 305 is an interface for connecting an external device to the image processing device 130. The external connection I / F 305 may include, for example, an interface for connecting the display 110 that displays a rear image to the image processing device 130, an interface for connecting the camera 120, and an interface for connecting an external storage device.

[0021] The GPU 306 is a calculation device that mainly performs calculations related to image processing among the processes executed by the image processing device 130. Note that the image processing device 130 may execute image processing using the CPU 301. In this case, the image processing device 130 does not need to include the GPU 306.

[0022] The system bus 307 is connected to the above components and transmits, for example, address signals, data signals, and various control signals, etc. Note that the hardware configuration of the image processing device 130 shown in Fig. 3 is an example, and the image processing device 130 may have various hardware configurations including the configuration of a computer.

[0023] 4 is a diagram showing the configuration of the image processing device 130. The image processing device 130 includes a main control unit 131, an image acquisition unit 132, a distance detection unit 133, a control unit 134, and a memory 135.

[0024] The main control unit 131, the image acquisition unit 132, the distance detection unit 133, and the control unit 134 are functional blocks showing the functions of the programs executed by the image processing device 130. Also, the memory 135 is a functional representation of the memory of the image processing device 130.

[0025] The main control unit 131 is a processing unit that controls the processing of the image processing device 130, and performs processing other than the processing performed by the image acquisition unit 132, the distance detection unit 133, and the control unit 134.

[0026] The image acquisition unit 132 performs a process of acquiring an image of the rear of the vehicle 10 (host vehicle) captured by the camera 120.

[0027] Distance detection unit 133 performs image processing on the image of the rear of vehicle 10 captured by camera 120, and detects the distance to the following vehicle one vehicle behind vehicle 10. As an example, distance detection unit 133 detects the distance from vehicle 10 to the following vehicle one vehicle behind by triangulation based on the positional relationship between structures on the road and the following vehicle.

[0028] When cutting out (extracting) a rear image to be displayed on the display 110 from an image of the rear of the vehicle 10 captured by the camera 120, the control unit 134 performs a process of correcting the image so as to suppress any positional deviation in the width direction of the following vehicle contained in the rear image, and cutting out the image at the corrected position as the rear image.

[0029] More specifically, the control unit 134 determines a correction amount for cutting out a rear image from an image of the rear of the vehicle 10 captured by the camera 120, based on the distance to the following vehicle one vehicle behind the vehicle 10 and the offset amount of the camera 120. The distance to the following vehicle one vehicle behind the vehicle 10 is detected by the distance detection unit 133. The offset amount of the camera 120 is an offset amount of the camera 120 in the width direction of the vehicle 10, and is stored in the memory 135. The rear image is an image that is cut out by the control unit 134 from the image of the rear of the vehicle 10 captured by the camera 120 to be displayed on the display 110.

[0030] Since the offset amount of camera 120 is a fixed value included in the design value of vehicle 10, the correction amount may be calculated in advance based on a plurality of distances and offset amounts, and table data associating the distances with the correction amounts may be stored in memory 135. Control unit 134 may read out the correction amount corresponding to the distance from the table data.

[0031] When cutting out a rear image from an image of the rear of the vehicle 10 captured by the camera 120, the control unit 134 cuts out, as the rear image, an image included in a correction area that is shifted in the width direction by a correction amount from a predetermined area in front of the camera 120. Then, the control unit 134 displays the cut-out rear image on the display 110. Details of the processing by the control unit 134 will be described later with reference to FIG.

[0032] The memory 135 stores programs and data necessary for the processes executed by the main control unit 131, the image acquisition unit 132, the distance detection unit 133, and the control unit 134, data generated in association with the processes, etc. The data stored in the memory 135 includes table data that associates the distance to the following vehicle with the correction amount.

[0033] Fig. 5 is a diagram showing a flowchart illustrating processing executed by the image processing device 130. The method realized by the flowchart shown in Fig. 5 is an image processing method of the embodiment, and is realized by the image processing device 130 executing a program for image processing of the embodiment.

[0034] When the image processing system 100 is powered on and the image processing device 130 is in a state in which the process shown in Fig. 5 can be executed, the image processing device 130 repeatedly executes the process shown in Fig. 5 at a predetermined control period. When the process starts, a series of processes are started under the overall control of the main control unit 131.

[0035] The image acquisition unit 132 performs an image acquisition process to acquire an image of the rear of the vehicle 10 captured by the camera 120 (step S1).

[0036] The distance detection unit 133 performs image processing on the image of the rear of the vehicle 10 captured by the camera 120, and performs detection processing to detect the distance to the following vehicle one vehicle behind the vehicle 10 (step S2). As described above, as an example, the distance from the vehicle 10 to the following vehicle one vehicle behind is detected by trigonometry.

[0037] Based on the distance detected by the distance detection unit 133, the control unit 134 determines, from the table data stored in the memory 135, a correction amount for cutting out a rear image from the image of the rear of the vehicle 10 captured by the camera 120, and performs a control process to cut out the rear image at a position shifted by the correction amount (step S3).

[0038] The control unit 134 displays the cut-out rear image on the display 110 (step S4). As a result, the rear image in which the position shift based on the distance to the following vehicle has been corrected is displayed on the display 110. When the process of step S4 is completed, the series of processes ends (END).

[0039] Fig. 6 is a diagram showing an example of a rear image cut out from camera 120 when control unit 134 does not perform correction. Fig. 6 shows rear images when the distance from vehicle 10 to the following vehicle 20, which is one vehicle behind, is 2 m, 3 m, 5 m, and 20 m, from bottom to top. In Fig. 6, C0 represents the center in the lateral direction (width direction of vehicle 10) of the image captured by camera 120. In Fig. 6, center C0 is indicated by a dashed line. Also, C1 represents the center in the width direction of the following vehicle 20. In Fig. 6, center C1 is indicated by a dashed line.

[0040] As shown in FIG. 6, the positional deviation D of the center C1 of the following vehicle 20 in the rear image from the center C0 in the lateral direction (width direction of the vehicle 10) increases as the distance from the vehicle 10 to the following vehicle 20 one vehicle behind becomes shorter, such as 20 m, 5 m, 3 m, and 2 m. The angle of view of the camera 120 is narrow, and as an example, the horizontal angle of view is 43 degrees and the vertical angle of view is 9 degrees. When using a camera 120 with such a narrow angle of view, if the camera 120 is offset from the center C of the vehicle 10 in the width direction, a large deviation occurs in the image of the following vehicle 20, which may be perceived as an uncomfortable feeling by the user. For this reason, the image processing device 130 performs correction so as to suppress such positional deviation.

[0041] 7 is a diagram showing a cut-out position PC corrected by a correction amount CA and a cut-out position P0 not corrected by the correction amount CA in an image 50 captured by the camera 120. The cut-out position P0 is indicated by a solid line, and the cut-out position PC is indicated by a dashed line. The cut-out position PC is a position shifted from the cut-out position P0 by the correction amount CA to the right side of the vehicle 10 (the left side in FIG. 7), and is in the same position in the vertical direction, but is shown shifted slightly downward from the cut-out position P0 so that the area of ​​the cut-out position PC can be clearly seen.

[0042] The cut-out position P0 not corrected by the correction amount CA is located in the vertical and horizontal center of the image 50 captured by the camera 120, and is an area having a size equivalent to the display area of ​​the display 110. In other words, the cut-out position P0 not corrected by the correction amount CA is an area located in front of the camera 120, which is disposed offset to the left from the center C (see FIG. 1) of the vehicle 10 in the width direction, and has a size equivalent to the display area of ​​the display 110.

[0043] FIG. 7(A) shows cut-out positions P0 and PC in an image 50 captured by a camera 120 when the distance between a vehicle 10 (own vehicle) and a following vehicle 20 one vehicle behind is 20 m, and a rear image 60 cut out from the cut-out position PC.

[0044] Figure 7 (B) shows cut-out positions P0 and PC in an image 50 captured by camera 120 when the distance between vehicle 10 (host vehicle) and the following vehicle 20 one vehicle behind is 2 m, and a rear image 60 cut out from cut-out position PC.

[0045] Since the lateral positional deviation of the following vehicle 20 in the image 50 captured by the camera 120 is greater when the distance from the vehicle 10 to the following vehicle 20 one vehicle behind is 2 m than when the distance is 20 m, the correction amount CA of the cut-out position PC relative to the cut-out position P0 is increased.

[0046] Therefore, the control unit 134 sets the correction amount CA to be larger as the detected value of the distance from the vehicle 10 to the following vehicle 20 behind by one vehicle is smaller (shorter), and sets the correction amount CA to be smaller as the detected value of the distance from the following vehicle 20 is larger (longer). By setting in this manner, the cut-out position PC in the image 50 captured by the camera 120 is corrected according to the distance (detection value) detected by the distance detection unit 133.

[0047] As a result, even if the camera 120 is positioned offset from the center C (see FIG. 1) of the vehicle 10 in the width direction, it is possible to suppress misalignment of the following vehicle 20 in the rear image displayed on the display 110.

[0048] Fig. 8 is a diagram showing a rear image 60. Fig. 8(A) shows a rear image 60 obtained at a cut-out position P0 (see Fig. 7(A) and Fig. 7(B)) that is not corrected by the correction amount CA for comparison. Fig. 8(B) shows a rear image 60 obtained at a cut-out position PC (see Fig. 7(A) and Fig. 7(B)) that is corrected by the correction amount CA. Fig. 8(C) shows a rear image 60 obtained at a cut-out position equivalent to the cut-out position P0 that is not corrected by the correction amount CA in an image captured by a camera placed at the center C in the width direction of the vehicle 10 for comparison.

[0049] 8(A), 8(B), and 8(C), the left side shows a rear image 60 when the distance to the following vehicle 20 is 20 m, and the right side shows a rear image 60 when the distance to the following vehicle 20 is 2 m. Also, in Fig. 8(A), 8(B), and 8(C), center C2 represents the center of the rear image 60 in the lateral direction.

[0050] Comparing Figures 8(A) and 8(B), it can be seen that when the distance is 20 m, the positional deviation of the following vehicle 20 in Figure 8(A) is small, but when the distance is 2 m, the positional deviation of the following vehicle 20 in Figure 8(A) is large, and the position of the following vehicle 20 in the rear image 60 shown in Figure 8(B) is corrected toward the center C2.

[0051] 8(B) and 8(C), it can be seen that there is almost no difference between the position and appearance of the following vehicle 20 in the rear image 60 shown in Fig. 8(B) and the position and appearance of the following vehicle 20 in the rear image 60 shown in Fig. 8(C) when the distance is 20 m and when the distance is 2 m. Strictly speaking, when the distance is close to 2 m, the following vehicle 20 in the rear image 60 shown in Fig. 8(B) is slightly shifted in direction as seen from the front left compared to the following vehicle 20 in the rear image 60 shown in Fig. 8(C), but this is at a level that is hardly a problem.

[0052] As described above, even if the camera 120 is positioned offset from the center C (see FIG. 1) of the vehicle 10 in the width direction, it is possible to suppress positional deviation of the following vehicle 20 in the rear image displayed on the display 110.

[0053] Therefore, it is possible to provide an image processing device 130, an image processing system 100, an image processing method, and a program that can provide a good rear view even if the camera 120 is disposed offset from the center C in the width direction of the vehicle 10. Since the positional deviation of the following vehicle 20 in the rear image is suppressed in this manner, it is possible to suppress an uncomfortable feeling felt by a user checking the rear on the display 110. In particular, even if a camera 120 with a narrow angle of view, for example, a horizontal angle of view of 43 degrees and a vertical angle of view of 9 degrees, is used, a good rear view with little discomfort can be ensured.

[0054] In addition, since the image processing device 130 includes a distance detection unit 133 that detects the distance to the following vehicle 20 based on the image 50 captured by the camera 120, it is possible to detect the distance to the following vehicle 20 from the image 50 captured by the camera 120, and therefore the distance to the following vehicle 20 can be detected with a simple configuration.

[0055] The control unit 134 sets the correction amount CA to a larger amount as the detected value of the distance from the following vehicle 20 becomes smaller, and sets the correction amount CA to a smaller amount as the detected value of the distance from the following vehicle 20 becomes larger. Therefore, the cut-out position PC for obtaining the rear image 60 in the image 50 can be corrected according to the distance from the following vehicle 20, and the rear image 60 in which the following vehicle 20 is positioned approximately in the center of the image can be obtained according to the distance from the following vehicle 20.

[0056] In addition, since the following vehicle 20 is a following vehicle that is present one vehicle behind the vehicle 10, even if there are multiple vehicles behind the vehicle 10, a rear image 60 can be acquired that is focused on the following vehicle 20 that is one vehicle behind and appears the largest in the rear image 60.

[0057] In the above, a description has been given of a form in which a corrected cut-out position PC is used to obtain the rear image 60 from the image 50 in accordance with the distance to the following vehicle 20, but the following form may also be used.

[0058] 9 is a diagram for explaining a method for acquiring rearward image 60 according to a modified example of the embodiment. In the acquisition method according to the modified example, in image 50 captured by camera 120, a rearward image is cut out at cut-out position P0 (see FIGS. 7(A) and 7(B)) that is not corrected by correction amount CA, and then the cut-out image is moved by the correction amount.

[0059] 9(A) and 9(B), C1 represents the widthwise center of the following vehicle 20 and is indicated by a dashed line. Center C2 represents the lateral center of the rear image 60 and is indicated by a solid line. FIG. 9(A) shows the rear image 60 cut out at cut-out position P0 (see FIGS. 7(A) and 7(B)). The widthwise center C1 of the following vehicle 20 is shifted to the right of the vehicle 10 (the left side in FIG. 9(A)) with respect to the lateral center C2 of the rear image 60. The positional shift is D1.

[0060] In such a case, if the rear image 60 is shifted to the right in the width direction of the vehicle 10 (to the left in FIG. 9(A)) by the positional deviation D1 so that the center C1 in the width direction of the following vehicle 20 coincides with the center C2 in the lateral direction of the rear image 60 in the rear image 60 shown in FIG. 9(B), the center C1 in the width direction of the following vehicle 20 can coincide with the center C2 in the lateral direction of the rear image 60. The correction amount is D1 and is equal to the above-mentioned correction amount CA.

[0061] Even when such a correction method is used, if the camera 120 is positioned offset from the center C (see FIG. 1) of the vehicle 10 in the width direction, it is possible to suppress positional deviation of the following vehicle 20 in the rear image displayed on the display 110.

[0062] Therefore, even if the camera 120 is positioned offset from the center C in the width direction of the vehicle 10, an image processing device 130, an image processing system 100, an image processing method, and a program can be provided that can provide good rear visibility.

[0063] The above describes an image processing device, an image processing system, an image processing method, and a program according to exemplary embodiments of the present invention. However, the present invention is not limited to the specifically disclosed embodiments, and various modifications and changes are possible without departing from the scope of the claims. [Explanation of symbols]

[0064] 10 Vehicles 20 Following vehicle 50 images 60 Rear Image 100 Image Processing System 110 Display 120 Camera 130 Image Processing Device 131 Main control unit 132 Image acquisition unit 133 Distance detection unit 134 Control Unit 135 Memory

Claims

1. an image acquisition unit that acquires an image captured by an imaging unit that is provided at a rear portion of the vehicle and offset from a center of the vehicle in a width direction and captures an image of the rear; a control unit that corrects a position of a rear image to be displayed on a display unit provided in the vehicle, among the images acquired by the image acquisition unit, based on an offset amount in the width direction of the imaging unit and a distance between the vehicle and a following vehicle, so that a positional deviation in the width direction of the following vehicle with respect to a center of the rear image in the width direction is suppressed; 23. An image processing device comprising:

2. The image processing device according to claim 1 , wherein the control unit corrects the position of the rear image by correcting a position of an image cut out from the image captured by the imaging unit in accordance with the positional deviation.

3. The image processing device according to claim 1 , wherein the control unit corrects the position of the rear image by correcting an area to be displayed on the display unit out of the image captured by the imaging unit in accordance with the positional deviation.

4. The image processing device according to claim 1 , further comprising a distance detection unit that detects a distance to the following vehicle based on the image captured by the imaging unit.

5. 5. The image processing device according to claim 1, wherein the control unit sets a larger amount of correction in the correction as the detected value of the distance to the following vehicle becomes smaller, and sets a smaller amount of correction in the correction as the detected value of the distance to the following vehicle becomes larger.

6. The image processing device according to claim 1 , wherein the following vehicle is a following vehicle that is present one vehicle behind the vehicle.

7. an imaging unit that is provided at a rear portion of the vehicle and offset from a center of the vehicle in a width direction to image the rear; A display unit provided in the vehicle; an image acquisition unit that acquires an image captured by the imaging unit; a control unit that corrects a position of a rear image to be displayed on the display unit, among the images acquired by the image acquisition unit, based on an offset amount in the width direction of the imaging unit and a distance between the vehicle and the following vehicle, so that a positional deviation in the width direction of the following vehicle with respect to a center in the width direction of the rear image is suppressed; 2. An image processing system comprising:

8. an image acquisition process for acquiring an image captured by an imaging unit that is provided at the rear of the vehicle and offset from the center of the vehicle in the width direction and captures an image of the rear; a control process for correcting a position of a rear image to be displayed on a display unit provided in the vehicle, among images acquired by the image acquisition process, based on an offset amount in the width direction of the imaging unit and a distance between the vehicle and the following vehicle, so that a positional deviation in the width direction of the following vehicle with respect to a center in the width direction of the rear image is suppressed; An image processing method comprising:

9. A program for causing an image processing device to execute the image processing method according to claim 8.

Images