Video display system, video display method, and video display device

Abstract

To make it possible to correct an object position such that positional deviation of a detected object decreases, an image display system (100) comprises a detection unit (11) for detecting an object from a first image, a time interval estimation unit (12) for estimating a time interval from when the first image is captured until the object detected by the detection unit (11) is superimposed on a second image, and a first position correction unit (13) for correcting the position of the object in the second image on the basis of the movement speed of an imaging device that captures the second image and the time interval estimated by the time interval estimation unit (12).

Description

[Technical Field]

[0001] The present invention relates to a video display system, a video display method, and a video display device. [Background technology]

[0002] Conventionally, a system has been proposed that collects multiple images from remote locations, integrates them with camera images, and grasps the situation of a moving object, and utilizes this information in the operation of a vehicle, etc. Related technologies include the inventions disclosed in Patent Document 1 and Patent Document 2 below.

[0003] Patent document 1 discloses a driving assistance device that includes an object position prediction unit that sets a recognition delay time according to the time required for an object position recognition unit to recognize the position of an object and calculates the predicted position of the object after the recognition delay time.

[0004] Patent Document 2 discloses a head-up display device that displays a virtual image superimposed on the scenery in front of the vehicle, and performs conversion processing to align the display position of the image in the display area with the position of an object when viewed through the viewing area from the driver's basic viewpoint position. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2019 / 159344 [Patent Document 2] International Publication No. 2018 / 193708 Summary of the Invention [Problem to be solved by the invention]

[0006] When information obtained from another device is superimposed on the image from an onboard camera installed in a vehicle, the camera image fluctuates rapidly as the vehicle moves at high speed. Therefore, if there is a delay in information transfer or analysis processing in the other device, there is a possibility that a discrepancy will occur in the information superimposed on the image from the onboard camera moving at high speed.

[0007] The driving assistance device disclosed in Patent Document 1 calculates the predicted position of an object after a recognition delay time, but does not take into account communication delays that occur when exchanging information over a network, which may result in a larger discrepancy in information than intended.

[0008] Furthermore, the head-up display device disclosed in Patent Document 2 aligns the position of an object when viewed through the visual recognition area from the driver's viewpoint with the display position of an image within the display area, and the driver is riding in the same vehicle as the camera. Therefore, for example, no consideration is given to integrating camera images with information on objects that move differently.

[0009] One aspect of the present invention has been made in consideration of the above-mentioned problems, and aims to provide a technology that can correct the position of an object so that the deviation in the position of a detected object is reduced when an image is displayed. [Means for solving the problem]

[0010] An image display system according to one embodiment of the present invention includes a detection means for detecting an object from a first image, a time interval estimation means for estimating the time interval from when the first image is captured until the object detected by the detection means is superimposed on a second image, and a first position correction means for correcting the position of the object in the second image based on the moving speed of a camera that captures the second image and the time interval estimated by the time interval estimation means.

[0011] An image display method according to one embodiment of the present invention detects an object from a first image, estimates the time interval from when the first image is captured to when the detected object is superimposed on a second image, and corrects the position of the object in the second image based on the movement speed of the camera that captures the second image and the time interval.

[0012] An image display device according to one embodiment of the present invention includes a detection means for detecting an object from a first image, a time interval estimation means for estimating the time interval from when the first image is captured until the object detected by the detection means is superimposed on a second image, and a first position correction means for correcting the position of the object in the second image based on the moving speed of the image capture device that captures the second image and the time interval estimated by the time interval estimation means. [Effects of the Invention]

[0013] According to one aspect of the present invention, it is possible to correct the position of an object so that the deviation of the position of a detected object is reduced when an image is displayed. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a block diagram showing a functional configuration of a video display system according to a first exemplary embodiment of the present invention. [Figure 2] 1 is a flowchart showing the flow of a video display method according to a first exemplary embodiment of the present invention. [Figure 3] 1 is a block diagram showing a functional configuration of a video display device according to a first exemplary embodiment of the present invention. [Figure 4] FIG. 10 is a block diagram showing the functional configuration of a video display system according to a second exemplary embodiment of the present invention. [Figure 5] 10A and 10B are diagrams for explaining a time interval estimated by a time interval estimation unit. [Figure 6] 10 is a diagram for explaining a second video when the time interval estimated by the time interval estimation unit is taken into consideration. FIG. [Figure 7] 10 is a flowchart showing the flow of a video display method according to a second exemplary embodiment of the present invention. [Figure 8] FIG. 10 is a block diagram showing the functional configuration of a video display system according to a third exemplary embodiment of the present invention. [Figure 9] 10 is a diagram for explaining a second video when the time interval estimated by the time interval estimation unit is taken into consideration. FIG. [Figure 10] FIG. 10 is a diagram showing an example of a case where an object whose position has been corrected is superimposed on a second video image. [Figure 11] FIG. 10 is a flowchart showing the flow of a video display method according to a third exemplary embodiment of the present invention. [Figure 12] FIG. 10 is a block diagram showing the functional configuration of a video display system according to a fourth exemplary embodiment of the present invention. [Figure 13] FIG. 2 illustrates an example of computer hardware. DETAILED DESCRIPTION OF THE INVENTION

[0015] Exemplary Embodiment 1 A first exemplary embodiment of the present invention will be described in detail with reference to the drawings. This exemplary embodiment is a basic form of the exemplary embodiments described below.

[0016] <Overview of Video Display System 100> In general terms, the image display system 100 according to this exemplary embodiment estimates the time interval between when a first image is captured and when a detected object is superimposed on a second image, and corrects the position of the object in the second image according to this time interval.

[0017] <Configuration of video display system 100> The configuration of an image display system 100 according to this exemplary embodiment will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the configuration of the image display system 100.

[0018] 1, the video display system 100 includes a detection unit 11, a time interval estimation unit 12, and a first position correction unit 13. The detection unit 11, the time interval estimation unit 12, and the first position correction unit 13 may be connected to each other via a communication network.

[0019] The detection means 11 detects an object from the first image. For example, the detection means 11 inputs the first image from a camera installed at a traffic light, and performs an analysis process to detect an object included in the first image by analyzing the first image. The detection means 11 outputs position information, size information, shape information, object type, etc. of the detected object. The objects to be detected are mainly automobiles, pedestrians, buildings, and other obstacles.

[0020] The detection means 11 can perform object detection using, for example, R-CNN (Regional CNN (Convolutional Neural Network)). The detection unit 11 inputs a first video from a camera installed at a traffic light and acquires one frame of image included in the first video. Then, the detection means 11 extracts a candidate region (Region Proposal) in which an object is captured from the acquired image. Note that the image may be a still image or a moving image.

[0021] Next, the detection means 11 uses CNN to calculate feature amounts for each candidate region. Then, the detection means 11 classifies what is captured in each region. In this way, using R-CNN enables highly accurate object detection, but it takes a lot of time because it is necessary to extract feature amounts for approximately 2,000 candidate regions. In recent years, Fast R-CNN, Faster R-CNN, YOLO (You Only Look Once), etc. have been developed, making real-time object detection possible.

[0022] Time interval estimation means 12 estimates the time interval from when the first video is captured until the object detected by detection means 11 is superimposed on the second video. For example, if time synchronization is established between the camera capturing the first video and detection means 11, the camera adds time information to the first video and outputs the first video. Time interval estimation means 12 estimates the time interval from the time information added to the first video and the time information when the object is superimposed on the second video.

[0023] For example, the time interval may include a delay time from when the first video is captured by the camera until the first video is acquired by the detection means 11. The time interval may also include a delay time required for the detection means 11 to perform an object detection process.

[0024] Here, the delay time refers to the time when a delay occurs due to a certain process. For example, the delay time due to object detection is the time from when detection of an object in the first video starts to when detection of the object in the first video is completed.

[0025] The delay time is also the processing time required to perform a predetermined process. The time interval may be the sum of a delay time or a delay time and a processing time. The time interval may be the sum of a delay time or a processing time and then subtracted from the delay time or processing time.

[0026] The time interval may also include a delay time from when the detection means 11 finishes detecting the object until the object is superimposed on the second video. The time interval may also include a delay time from when the second video is captured by the imaging device until the second video is acquired by the video display system 100.

[0027] The first position correction means 13 corrects the position of the object in the second video based on the moving speed of the image capturing device that captures the second video and the time interval estimated by the time interval estimation means 12.

[0028] The image capturing device that captures the second video is, for example, an in-vehicle camera mounted on a vehicle. The moving speed of the image capturing device is the same as the moving speed of the vehicle. The moving speed of the vehicle can be acquired by using, for example, V2X (Vehicle to Everything) communication technology.

[0029] Data exchanged using V2X communication technology includes road traffic information, data on vehicle behavior, data on platooning and following driving, data on autonomous driving, etc. Among these data, data on vehicle behavior, particularly information on the vehicle's driving area, driving speed, driving distance, driving characteristics such as acceleration / deceleration and steering, and vehicle status, can be used.

[0030] First position correction means 13 multiplies the moving speed of the image capturing device by the time interval estimated by time interval estimation means 12 to calculate the distance traveled by the image capturing device from when the first video is captured until the object detected by detection means 11 is superimposed on the second video. First position correction means 13 then corrects the position and size of the object based on information such as position information, size information, and shape information of the object detected by detection means 11 and the distance traveled by the image capturing device. For example, first position correction means 13 corrects the position and size of the object so that the object moves closer to the image capturing device by the distance traveled by the image capturing device.

[0031] For example, if an object in the first image detected by the detection means 11 is superimposed on the second image at its original position (the position detected in the first image), it will not be possible to superimpose and display it at the correct position (the position where the object exists in real space) because factors such as the time required for object detection are not taken into consideration. The first position correction means 13 corrects the position of the object in the second image so that the object is at the correct position (the position where the object exists in real space) in the second image, taking into consideration factors such as the time required for object detection. Correcting the position and size of an object means correcting the position and size of the object in the second image so that they are at the correct position (the position where the object exists in real space) and size (the size of the object in real space).

[0032] For example, when a second image captured by the imaging device is displayed on a display, an object in the second image whose position and size have been corrected by the first position correcting means 13 is displayed in a corrected manner.

[0033] Note that each function of the video display system 100 may be implemented on the cloud. For example, the detection unit 11 may be a single device, and the time interval estimation unit 12 and the first position correction unit 13 may be a single device. These may be implemented in a single device or in separate devices. For example, when they are implemented in separate devices, information from each unit is transmitted and received via a communication network to proceed with processing.

[0034] <Advantages of the video display system 100> As described above, in the video display system 100 according to this exemplary embodiment, the first position corrector 13 corrects the position of the object in the second video based on the moving speed of the image capture device capturing the second video and the time interval estimated by the time interval estimator 12. Therefore, the object position can be corrected so as to reduce the deviation in the position of the detected object.

[0035] Furthermore, in a system that operates by collecting video from multiple cameras, it is possible to reduce deviations in the position of an object when an object captured by another camera is superimposed on the camera video. For example, when a person captured in video from a camera installed at an intersection is superimposed on video from a camera mounted on a vehicle, it is possible to correct the object position so that the deviation between the position where the person was detected and the position of the person in the video from the camera mounted on the vehicle is reduced.

[0036] Furthermore, even if there is an object that does not appear in the second image captured by the imaging device, for example, an object that is not captured by an on-board camera mounted on a vehicle, the blind spot can be filled in by using multiple cameras, and the object that does not appear in the second image can be superimposed on the second image. For example, if a camera installed at an intersection captures a person standing near a truck parked on the road, in a position that cannot be seen from a vehicle, when the person is superimposed on the image from the on-board camera, the object position can be corrected and superimposed so that the difference between the position where the person was detected and the position of the person in the image from the on-board camera is small, thereby enabling a person (or a system with a collision detection function or autonomous driving, AI, etc.) viewing the image from the on-board camera to recognize the person.

[0037] <Flow of the video display method using the video display system 100> The flow of the video display method executed by the video display system 100 configured as above will be described with reference to Fig. 2. Fig. 2 is a flow diagram showing the flow of the video display method. As shown in Fig. 2, the video display method includes steps S1 to S3.

[0038] First, detection means 11 detects an object from the first video (S1). Then, time interval estimation means 12 estimates the time interval from when the first video is captured until the detected object is superimposed on the second video (S2). Finally, first position correction means 13 corrects the position of the object in the second video based on the movement speed of the camera that captures the second video and the time interval (S3).

[0039] <Effects of image display methods> As described above, according to the image display method of this exemplary embodiment, in step S3, the position of the object in the second image is corrected based on the movement speed of the imaging device that captures the second image and the time interval, so that the object position can be corrected so that the deviation in the position of the detected object is reduced.

[0040] <Configuration of video display device 1> The configuration of the image display device 1 according to this exemplary embodiment will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the functional configuration of the image display device 1. As shown in Fig. 3, the image display device 1 includes a detection unit 11, a time interval estimation unit 12, and a first position correction unit 13.

[0041] The detection unit 11 is a component that realizes the detection means in this exemplary embodiment. The time interval estimation unit 12 is a component that realizes the time interval estimation means in this exemplary embodiment. The first position correction unit 13 is a component that realizes the first position correction means in this exemplary embodiment.

[0042] The detection unit 11 detects an object from the first video. For example, the detection unit 11 receives a first video from a camera installed at a traffic light and performs an analysis process to detect an object included in the first video by analyzing the first video. The detection unit 11 outputs position information of the detected object in the first video, size information of the object in the first video, shape information, type of object, etc. For example, the shape information of the object may be information obtained by cutting out the object into a rectangle, or information obtained by cutting out the object along its contour.

[0043] The time interval estimation unit 12 estimates the time interval from when the first video is captured until the object detected by the detection unit 11 is superimposed on the second video. For example, if time synchronization is established between the camera capturing the first video and the detection unit 11, the camera adds time information to the first video and outputs the first video. The time interval estimation unit 12 estimates the time interval from the time information added to the first video and the time information when the object is superimposed on the second video. Note that the time until the object is superimposed on the second video may be the time required for a similar superimposition process just before.

[0044] First position correction unit 13 corrects the position of the object in the second video based on the movement speed of the camera device that captures the second video and the time interval estimated by time interval estimation unit 12. Specifically, first position correction unit 13 calculates the movement distance by multiplying the movement speed of the camera device that captures the second video by the time interval estimated by time interval estimation unit 12, and corrects the positional deviation of the object detected by detection unit 11 in accordance with the movement distance.

[0045] <Effects of image display device 1> As described above, in the image display device 1 according to this exemplary embodiment, the first position corrector 13 corrects the position of the object in the second image based on the moving speed of the image capture device capturing the second image and the time interval estimated by the time interval estimator 12. Therefore, the object position can be corrected so as to reduce the deviation in the position of the detected object.

[0046] Exemplary Embodiment 2 A second exemplary embodiment of the present invention will be described in detail with reference to the drawings. FIG. 4 is a block diagram showing the functional configuration of an image display system 100A. An image display device 1A according to this exemplary embodiment is installed in, for example, a control center. A camera 2 that captures a first image is installed in, for example, a traffic light. An in-vehicle camera that captures a second image is mounted on, for example, a vehicle 3. The in-vehicle camera is an example of an imaging device that captures a second image.

[0047] <Configuration of video display system 100A> The configuration of an image display system 100A according to this exemplary embodiment will be described with reference to Fig. 4. As shown in Fig. 4, the image display system 100A includes an image display device 1A, a camera 2 that captures a first image, and an in-vehicle camera that is mounted on a vehicle 3 and captures a second image.

[0048] The image display device 1A includes a control unit 10 and a communication unit 15. The control unit 10 also includes a detection unit 11, a time interval estimation unit 12, a first position correction unit 13, and a superimposed image generation unit 14. Note that components having the same functions as those described in the first and second exemplary embodiments are denoted by the same reference numerals, and their description will be omitted as appropriate.

[0049] The detection unit 11 is a component that realizes the detection means in this exemplary embodiment. The time interval estimation unit 12 is a component that realizes the time interval estimation means in this exemplary embodiment. The first position correction unit 13 is a component that realizes the first position correction means in this exemplary embodiment. The superimposed image generation unit 14 is a component that realizes the superimposed image generation means in this exemplary embodiment.

[0050] The detection unit 11 detects an object from the first video image received from the camera 2 via the communication unit 15. For example, the detection unit 11 receives the first video image from the camera 2 installed at a traffic light, and performs an analysis process to detect an object included in the first video image by analyzing the first video image. The detection unit 11 outputs information such as the position, size, shape, and type of the detected object.

[0051] The time interval estimation unit 12 estimates the time interval from when the first video is captured until the object detected by the detection unit 11 is superimposed on the second video. The time interval includes a first delay time from when the first video is captured until the first video is acquired by the detection unit 11. For example, if time synchronization is established between the camera 2 capturing the first video and the detection unit 11, the camera 2 adds time information to the first video and transmits it. The time interval estimation unit 12 estimates the first delay time from the time information added to the first video and the time information at which the detection unit 11 input the first video.

[0052] Furthermore, if time synchronization is not possible between the camera 2 capturing the first video and the detection unit 11, for example, the camera 2 or the detection unit 11 may send a time measurement packet to calculate the first delay time, or a preset time may be used, or a relationship between the status (location, time, weather, vehicle model, manufacturing date of the communication device, etc.) and the delay information may be determined in advance and that relationship may be used.

[0053] The time interval also includes a second delay time required for the object detection process by the detection unit 11. The time interval estimation unit 12 can measure, for example, the start time and end time of the analysis process by the detection unit 11, and determine the second delay time as the time obtained by subtracting the analysis process start time from the analysis process end time.

[0054] First position correction unit 13 corrects the position of the object in the second video based on the movement speed of the camera device that captures the second video and the time interval estimated by time interval estimation unit 12. Specifically, first position correction unit 13 calculates the movement distance by multiplying the movement speed of the camera device that captures the second video by the time interval estimated by time interval estimation unit 12, and corrects the positional deviation of the object detected by detection unit 11 in accordance with the movement distance.

[0055] The detection unit 11 detects an object from the first video. For example, the detection unit 11 receives a first video from a camera installed at a traffic light and performs an analysis process to detect an object included in the first video by analyzing the first video. The detection unit 11 outputs position information of the detected object in the first video, size information of the object in the first video, shape information, type of object, etc. For example, the shape information of the object may be information obtained by cutting out the object into a rectangle, or information obtained by cutting out the object along its contour.

[0056] The superimposed image generation unit 14 superimposes the object whose position has been corrected by the first position correction unit 13 onto the second image. The superimposed image generation unit 14 may be configured to superimpose the object whose position has been corrected onto the second image and display it. The superimposed image generation unit 14 receives the second image from the in-vehicle camera mounted on the vehicle 3 via the communication unit 15, and superimposes the object whose position has been corrected onto the received second image.

[0057] For example, when a second image captured by the imaging device is displayed on a display, the object in the second image, whose position and size have been corrected by the first position correcting means 13, is corrected and displayed.

[0058] The time interval also includes a third delay time from when detection of the object by the detection unit 11 ends until superimposed image generation unit 14 superimposes the object. Time interval estimation unit 12 can calculate the third delay time from time information when detection of the object by the detection unit 11 ends and time information when superimposition of the object on the second image by superimposed image generation unit 14 ends. Note that the time until the object is superimposed on the second image may be the time required for a similar superimposition process immediately before. For example, time interval estimation unit 12 may calculate the third delay time from time information when detection of the object by the detection unit 11 ends and time information when superimposition of the object on the second image by superimposed image generation unit 14 ends in the immediately previous operation, and estimate the third delay time in the current operation.

[0059] The time interval also includes a fourth delay time from when the second video is captured until the second video is acquired. For example, if time synchronization is established between the vehicle-mounted camera capturing the second video and the video display device 1A, the vehicle-mounted camera adds time information to the second video and transmits it to the video display device 1A. The time interval estimation unit 12 estimates the fourth delay time from the time information added to the second video and the time information when the superimposed video generation unit 14 superimposed the object on the second video.

[0060] 4, the image display device 1A receives a second image from an in-vehicle camera mounted on a vehicle 3 via a communication network 4. The detection unit 11 receives the first image captured by the camera 2 and detects a passerby 5 and a building 6.

[0061] Time interval estimation unit 12 estimates a time interval from the first delay time, the second delay time, and the third delay time, and outputs the estimated time interval to first position correction unit 13. First position correction unit 13 corrects the positions of passerby 5 and building 6 based on the moving speed of the vehicle-mounted camera that captures the second video and the time interval estimated by time interval estimation unit 12.

[0062] 4, the superimposed image generating unit 14 superimposes the passerby 5 and the building 6 after the positions have been corrected onto the second image. The superimposed image generating unit 14 may also be configured to superimpose the passerby 5 and the building 6 after the positions have been corrected onto the second image.

[0063] Fig. 5 is a diagram for explaining the time interval estimated by the time interval estimation unit 12. When a first video captured by the camera 2 is received by the video display device 1A via the communication network 4, as shown in Fig. 5, the camera video transfer delay (1) (DL1) is the delay time from when the camera 2 captures the first video until the communication unit 15 of the video display device 1A completes reception of the first video. This camera video transfer delay (1) (DL1) corresponds to the above-mentioned first delay time.

[0064] The analysis processing delay (DL2) is the delay time from when the communication unit 15 of the image display device 1A completes reception of the first image to when the detection unit 11 completes analysis of the object. This analysis processing delay (DL2) corresponds to the second delay time.

[0065] The processing wait delay (1) (DL3) is the delay time from when the detection unit 11 finishes analyzing the object until the superimposed image generation unit 14 superimposes the object onto the second image, or the delay time until the superimposed display. The processing wait delay (1) (DL3) corresponds to the third delay time.

[0066] For example, superimposing an object on an image refers to superimposing an object whose position and size have been corrected by the first position correction unit 13 on a second image captured by an in-vehicle camera. Furthermore, superimposing an object refers to superimposing an object whose position and size have been corrected by the first position correction unit 13 on the second image when the second image captured by the in-vehicle camera is displayed on a display. While the above description has been given of superimposing an image, the operation of the superimposed image generation unit 14 is not limited to superimposing an image (or an image of an object) on an image, and may be any operation that displays an image like a superimposed image. For example, the superimposed image generation unit 14 may superimpose a portion of the first image or the image (or image) of the object on the second image captured by the in-vehicle camera. For example, the superimposed image generation unit 14 may combine the second image captured by the in-vehicle camera with a portion of the first image or the image (or image) of the object to display a single image.

[0067] The camera image transfer delay (2) (DL4) is the delay time from when the in-vehicle camera captures the second image to when the communication unit 15 of the image display device 1A completes receiving the second image. This camera image transfer delay (2) (DL4) corresponds to the fourth delay time.

[0068] The processing wait delay (2) (DL5) is the delay time from when the communication unit 15 of the image display device 1A completes reception of the second image until the superimposed image generation unit 14 superimposes the object onto the second image, or the delay time until the superimposed display.

[0069] When an object detected by detection unit 11 is superimposed or superimposed on the second video captured at timing T1 in Fig. 5, the movement distance of the on-board camera mounted on vehicle 3 is as shown in the following equation (Equation 1). Therefore, first position correction unit 13 corrects the position of the object detected by detection unit 11 according to the movement distance of the on-board camera.

[0070] In-vehicle camera movement distance = (DL1 + DL2 + DL3 - DL4 - DL5) × (in-vehicle camera movement speed) (Equation 1) So far, we have described the case where the superimposed image generating unit is located in the control center. However, the on-board camera mounted on vehicle 3 may also have a superimposed image generating unit, and the on-board camera may superimpose the object on the second image. In this case, image display device 1A transmits the object's position information, etc., corrected by first position corrector 13, to the on-board camera via communication network 4. The on-board camera's superimposed image generating unit superimposes the corrected object received from image display device 1A on the second image captured by the on-board camera. As shown in FIG. 5, the on-board camera superimposes the object on the second image at timing T2. Therefore, the travel distance of the on-board camera mounted on vehicle 3 is as shown in the following equation (Equation 2). Note that the image processing device function may be located on the cloud side, and the superimposed image may be provided to the control center or the vehicle.

[0071] Movement distance of the in-vehicle camera = (DL1 + DL2 + DL3) × (movement speed of the in-vehicle camera) (Equation 2) The first position correction unit 13 corrects the position of the object detected by the detection unit 11 according to the movement distance of the vehicle-mounted camera calculated using (Equation 1) or (Equation 2). Note that the delay time required between when the image display device 1A transmits the corrected object position information, etc. to the vehicle-mounted camera and when the vehicle-mounted camera receives the information is very small, so it does not need to be taken into consideration, or the delay time may be included in DL3.

[0072] 6 is a diagram illustrating a second image in consideration of the time interval estimated by the time interval estimation unit 12. It is assumed that the vehicle 3 moves from the position indicated by the dotted line to the position indicated by the solid line during the time interval estimated by the time interval estimation unit 12.

[0073] The second image-1 shows a case where the time interval estimated by the time interval estimation unit 12 is not taken into consideration. The second image-2 shows a case where the time interval estimated by the time interval estimation unit 12 is taken into consideration. Because the vehicle 3 approaches the pedestrian 5 by the distance traveled by the vehicle 3, the first position correction unit 13 corrects the position of the pedestrian 5 in the second image so that it approaches the vehicle 3, as shown in the second image-2, and accordingly corrects the size of the pedestrian 5. In FIG. 6, the pedestrian 5 is displayed surrounded by a dotted line to make it stand out, but it may also be displayed highlighted, for example.

[0074] <Flow of the video display method using the video display system 100A> The flow of the video display method executed by the video display system 100A configured as above will be described with reference to Fig. 7. Fig. 7 is a flow chart showing the flow of the video display method. As shown in Fig. 7, the video display method includes steps S11 to S14.

[0075] First, the detection unit 11 detects an object from the first video (S11). Then, the time interval estimation unit 12 estimates the time interval from when the first video is captured until the detected object is superimposed on the second video (S12).

[0076] The first position corrector 13 corrects the position of the object in the second video based on the moving speed of the camera that captures the second video and the time interval (S13). Finally, the superimposed video generator 14 superimposes the object whose position has been corrected onto the second video (S14).

[0077] <Effects of the video display system 100A> As described above, in the video display system 100A according to this exemplary embodiment, the first position corrector 13 corrects the position of the object in the second video based on the moving speed of the image capturing device that captures the second video and the time interval estimated by the time interval estimator 12. Therefore, the first position corrector 13 can correct the object position so as to reduce the deviation in the position of the detected object.

[0078] Furthermore, since the time interval estimated by the time interval estimation unit 12 includes a first delay time from when the first image is captured until the first image is acquired by the detection unit 11, the first position correction unit 13 can correct the object position so that the positional deviation of the detected object is further reduced.

[0079] Furthermore, since the time interval estimated by the time interval estimation unit 12 includes the second delay time required for the object detection process by the detection unit 11, the first position correction unit 13 can correct the object position so that the deviation in the position of the detected object becomes even smaller.

[0080] In addition, the superimposed image generation unit 14 superimposes the object whose position has been corrected by the first position correction unit 13 onto the second image, allowing the user to grasp the exact position of objects such as people and cars.

[0081] Furthermore, since the time interval estimated by the time interval estimation unit 12 includes a third delay time from when the detection unit 11 finishes detecting the object until the superimposed image generation unit 14 superimposes the object, the first position correction unit 13 can correct the object position so that the positional deviation of the detected object becomes even smaller.

[0082] Furthermore, since the time interval estimated by the time interval estimation unit 12 includes a fourth delay time from when the second image is photographed to when the second image is acquired, the first position correction unit 13 can correct the object position so that the positional deviation of the detected object becomes even smaller.

[0083] Exemplary Embodiment 3 A third exemplary embodiment of the present invention will be described in detail with reference to the drawings. FIG. 8 is a block diagram showing the functional configuration of an image display system 100B. An image display device 1B according to this exemplary embodiment is installed, for example, in a control center. A camera 2 that captures the first image is installed, for example, at a traffic light. An in-vehicle camera that captures the second image is mounted, for example, on a vehicle 3. The in-vehicle camera is an example of an imaging device that captures the second image.

[0084] <Configuration of video display system 100B> The configuration of an image display system 100B according to this exemplary embodiment will be described with reference to Fig. 8. As shown in Fig. 8, the image display system 100B includes an image display device 1B, a camera 2 that captures a first image, and an in-vehicle camera that is mounted on a vehicle 3 and captures a second image.

[0085] The image display device 1B includes a control unit 10B and a communication unit 15. The control unit 10B also includes a detection unit 11, a time interval estimation unit 12, a first position correction unit 13, a superimposed image generation unit 14, and a second position correction unit 16. Note that components having the same functions as those described in the third exemplary embodiment are given the same reference numerals, and their description will be omitted as appropriate. The second position correction unit 16 is configured to realize the second position correction means in this exemplary embodiment.

[0086] If the object is moving, the second position correction unit 16 corrects the position of the object in the second image based on the object's moving speed and the time interval estimated by the time interval estimation unit 12, in addition to the correction of the object's position by the first position correction unit 13.

[0087] For example, when an object detected by detection unit 11 is superimposed or superimposed on the second video captured at timing T1 in Fig. 5, the moving distance of the object is as shown in the following equation (Equation 3). Therefore, second position correction unit 16 corrects the position of the object detected by detection unit 11 according to the moving distance of the object. In the following description, the moving object is another vehicle 7 shown in Fig. 8, but the moving object may also be a pedestrian, a bicycle, etc.

[0088] Movement distance of other vehicle 7=(DL1+DL2+DL3-DL4-DL5)×(movement speed of other vehicles) (Equation 3) The moving speed of the other vehicle 7 can be acquired by using, for example, V2X communication technology. The moving speed of the other vehicle 7 can also be calculated from the position of the other vehicle 7 in the first video captured by the camera 2. For example, the detection unit 11 extracts the position of the other vehicle 7 in a frame of the first video, and then extracts the position of the other vehicle 7 in the next frame. Then, the detection unit 11 can calculate the moving speed of the other vehicle 7 from the difference (moving distance) of the other vehicle 7 in the two frames and the frame frequency of the first video.

[0089] So far, we have explained the case where the superimposed image generating unit is located in the control center. However, the on-board camera mounted on vehicle 3 may also have a superimposed image generating unit, and the on-board camera may superimpose the object on the second image. In this case, image display device 1B transmits the object's position information, etc., corrected by first position corrector 13 and second position corrector 16 to the on-board camera via communication network 4. The on-board camera's superimposed image generating unit superimposes the corrected image of the object received from image display device 1B on the second image captured by the on-board camera. As shown in FIG. 5, the on-board camera superimposes the object on the second image at timing T2. Therefore, the travel distance of other vehicle 7 is given by the following equation (Equation 4):

[0090] Distance traveled by other vehicles = (DL1 + DL2 + DL3) × (speed of other vehicles) (Equation 4) The second position corrector 16 further corrects the position of the object detected by the detector 11 in accordance with the moving distance of the other vehicle 7 calculated using (Equation 3) or (Equation 4).

[0091] 9 is a diagram illustrating a second image in consideration of the time interval estimated by the time interval estimation unit 12. It is assumed that the vehicle 3 moves from the position indicated by the dotted line to the position indicated by the solid line during the time interval estimated by the time interval estimation unit 12.

[0092] The second image-1 shows a case where the time interval estimated by the time interval estimation unit 12 is not taken into consideration. The second image-2 shows a case where the time interval estimated by the time interval estimation unit 12 is taken into consideration. Because the vehicle 3 approaches the passerby 5 by the distance traveled by the vehicle 3, the first position correction unit 13 corrects the positions of the passerby 5 and other vehicles 7 in the second image so that they are closer to the vehicle 3, as shown in the second image-2, and accordingly corrects the passerby 5 and other vehicles 7 so that they are larger.

[0093] Furthermore, as shown in the second image-2, the second position correction unit 16 corrects the position of the other vehicle 7 by the distance traveled by the other vehicle 7. In Fig. 9, the passerby 5 and the other vehicle 7 are displayed surrounded by dotted lines to make them stand out, but they may also be displayed highlighted, for example.

[0094] 10 is a diagram showing an example of a case where an object whose position has been corrected is superimposed on the second video. When an object is hidden by another object in the second video, the superimposed video generation unit 14 superimposes the object on the second video in a manner that makes the object identifiable.

[0095] For example, the detection unit 11 performs object detection from the first video captured by the camera 2 to detect the passerby 5 and the building 6. Then, the detection unit 11 determines whether the passerby 5 overlaps with the building 6 based on the position information of the passerby 5 and the position information of the building 6, thereby making it possible to determine whether the passerby 5 is hidden by the building 6 in the second video. Note that this operation is not essential, and the image of the passerby 5 may be superimposed regardless of whether the passerby 5 overlaps with the building 6.

[0096] In Figure 10, since passerby 5 is hidden by building 6, the superimposed image generation unit 14 displays passerby 5 in a identifiable manner, for example, by superimposing passerby 5 on building 6 using a dotted line, and displays a message saying, "There is a person behind the ABC building."

[0097] Also, in Figure 10, since another vehicle 7 is crossing the intersection, the superimposed image generation unit 14 displays the other vehicle 7 in a manner that makes it identifiable, for example, by surrounding the other vehicle 7 with a dotted line, and displays a message saying, "Car A is passing through intersection B, traveling east (40 km / h)."

[0098] <Flow of the video display method using video display system 100B> The flow of the video display method executed by the video display system 100B configured as above will be described with reference to Fig. 11. Fig. 11 is a flow diagram showing the flow of the video display method. As shown in Fig. 11, the video display method includes steps S21 to S25.

[0099] First, the detection unit 11 detects an object from the first video (S21). Then, the time interval estimation unit 12 estimates the time interval from when the first video is captured until the detected object is superimposed on the second video (S22).

[0100] First position corrector 13 corrects the position of the object in the second video based on the moving speed of the camera that captures the second video and the time interval (S23). Then, second position corrector 16 further corrects the position of the object in the second video based on the moving speed of the object and the estimated time interval (S24). Finally, superimposed video generator 14 superimposes the object whose position has been corrected onto the second video (S25).

[0101] <Effects of video display system 100B> As described above, in the video display system 100B according to this exemplary embodiment, the second position corrector 16 further corrects the position of the object in the second video based on the moving speed of the object and the estimated time interval. Therefore, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0102] Exemplary Embodiment 4 A fourth exemplary embodiment of the present invention will be described in detail with reference to the drawings. FIG. 12 is a block diagram showing the functional configuration of an image display system 100C. An image correction device 20 according to this exemplary embodiment is installed, for example, at a location other than a control center. A camera 2 that captures a first image is installed, for example, at a traffic light. An on-board camera that captures a second image is mounted, for example, on a vehicle 3. The on-board camera is an example of an imaging device that captures a second image.

[0103] <Configuration of video display system 100A> The configuration of an image display system 100C according to this exemplary embodiment will be described with reference to Fig. 12. As shown in Fig. 12, the image display system 100C includes an image correction device 20, a camera 2 that captures a first image, and an in-vehicle camera that is mounted on a vehicle 3 and captures a second image.

[0104] Image correction device 20 includes a control unit 10C and a communication unit 15. Control unit 10C also includes a detection unit 11, a time interval estimation unit 12, a first position correction unit 13, a superimposed image generation unit 14, and a second position correction unit 16. Note that components having the same functions as those described in exemplary embodiments 1 to 4 are denoted by the same reference numerals, and their description will be omitted as appropriate.

[0105] The detection unit 11 detects an object from the first video collected from the camera 2 via the communication unit 15. The time interval estimation unit 12 estimates the time interval from when the first video is captured until the object detected by the detection unit 11 is superimposed on the second video.

[0106] First position correction unit 13 collects the moving speed of vehicle 3 from vehicle 3 via communication unit 15, and analyzes and corrects the position of the object in the second video based on the moving speed of the in-vehicle camera capturing the second video and the time interval estimated by time interval estimation unit 12. Second position correction unit 16 further corrects the position of the object in the second video based on the moving speed of the object and the time interval estimated by time interval estimation unit 12.

[0107] The superimposed image generation unit 14 superimposes the object whose position has been corrected onto the second image. Then, the superimposed image generation unit 14 transmits the superimposed image to the control center 30 via the communication unit 15. The control center 30 analyzes the superimposed image received from the image correction device 20, and transmits instructions such as information about the situation around the vehicle 3 and safety to the vehicle 3 via the communication network 4. The analysis of the superimposed image may be performed by a person such as an operator remotely monitoring the vehicle, or may be performed by AI such as a collision detection system.

[0108] <Effects of the video display system 100C> As described above, according to the image display system 100C according to this exemplary embodiment, the image correction device 20 superimposes the object whose position has been corrected on the second image and transmits the superimposed image to the control center 30. Therefore, the control center 30 can analyze the superimposed image and transmit instructions to the vehicle 3.

[0109] [Software implementation example] Some or all of the functions of the image display devices 1, 1A, 1B and the image correction device 20 may be realized by hardware such as an integrated circuit (IC chip), or by software.

[0110] In the latter case, the image display devices 1, 1A, and 1B and the image correction device 20 are realized, for example, by a computer that executes instructions of a program, which is software that realizes each function. An example of such a computer (hereinafter referred to as computer C) is shown in FIG. 13. The computer C includes at least one processor C1 and at least one memory C2. The memory C2 stores a program P for operating the computer C as the image display devices 1, 1A, and 1B and the image correction device 20. In the computer C, the processor C1 reads and executes the program P from the memory C2, thereby realizing each function of the image display devices 1, 1A, and 1B and the image correction device 20.

[0111] The processor C1 may be, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a micro processing unit (MPU), a floating point number processing unit (FPU), a physics processing unit (PPU), a microcontroller, or a combination thereof. The memory C2 may be, for example, a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or a combination thereof.

[0112] The computer C may further include a RAM (Random Access Memory) for expanding the program P during execution and for temporarily storing various data. The computer C may also include a communication interface for transmitting and receiving data to and from other devices. The computer C may also include an input / output interface for connecting input / output devices such as a keyboard, mouse, display, and printer.

[0113] Furthermore, the program P can be recorded on a non-transitory tangible recording medium M that can be read by the computer C. Such a recording medium M can be, for example, a tape, a disk, a card, a semiconductor memory, or a programmable logic circuit. The computer C can acquire the program P via such a recording medium M. The program P can also be transmitted via a transmission medium. Such a transmission medium can be, for example, a communication network or broadcast waves. The computer C can also acquire the program P via such a transmission medium.

[0114] Each of the exemplary embodiments described above may be implemented singly, or a plurality of exemplary embodiments may be combined and implemented.

[0115] [Appendix 1] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. For example, embodiments obtained by appropriately combining the technical means disclosed in the above-described embodiments are also included in the technical scope of the present invention.

[0116] [Appendix 2] Some or all of the above-described embodiments can also be described as follows: However, the present invention is not limited to the following described aspects.

[0117] (Appendix 1) detection means for detecting an object from the first image; a time interval estimation means for estimating a time interval from when the first video is captured until when the object detected by the detection means is superimposed on a second video; a first position correction means for correcting a position of the object in the second video image based on a moving speed of an image capturing device that captures the second video image and the time interval estimated by the time interval estimation means; Video display system.

[0118] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is reduced.

[0119] (Appendix 2) 2. The image display system according to claim 1, wherein the time interval includes a first delay time from when the first image is captured until the first image is acquired by the detection means.

[0120] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0121] (Appendix 3) 3. The video display system according to claim 1, wherein the time interval includes a second delay time required for the detection means to perform a detection process for the object.

[0122] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0123] (Appendix 4) 4. The video display system according to any one of claims 1 to 3, further comprising a superimposed video generating means for superimposing the object, the position of which has been corrected by the first position correcting means, on the second video.

[0124] According to the above configuration, the user can grasp the exact position of an object such as a passerby or a vehicle.

[0125] (Appendix 5) The image display system described in Appendix 4, wherein, when the object is hidden by another object in the second image, the superimposed image generation means superimposes the object on the second image in a manner that makes the object identifiable.

[0126] According to the above configuration, the user can grasp the exact position of an object such as a passerby or a vehicle.

[0127] (Appendix 6) The image display system according to claim 4 or 5, wherein the time interval includes a third delay time from when the detection means finishes detecting the object to when the superimposed image generation means superimposes the object.

[0128] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0129] (Appendix 7) An image display system as described in any one of Appendices 1 to 6, further comprising a second position correction means for further correcting the position of the object in the second image based on the moving speed of the object and the time interval estimated by the time interval estimation means.

[0130] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0131] (Appendix 8) Detecting an object from the first image; estimating a time interval from when the first video is captured until when the detected object is superimposed on the second video; An image display method, comprising correcting the position of the object in the second image based on the time interval and the moving speed of an image capturing device that captures the second image.

[0132] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is reduced.

[0133] (Appendix 9) 9. The image display method according to claim 8, wherein the time interval includes a first delay time from when the first image is shot to when the first image is acquired.

[0134] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0135] (Appendix 10) 10. The image display method according to claim 8, wherein the time interval includes a second delay time required for the object detection process.

[0136] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0137] (Appendix 11) 11. The image display method according to any one of appendices 8 to 10, wherein the object, the position of which has been corrected, is superimposed on the second image.

[0138] According to the above configuration, the user can grasp the exact position of an object such as a passerby or a vehicle.

[0139] (Appendix 12) In the process of superimposing the object, 12. The image display method according to claim 11, wherein, if the object is hidden by another object in the second image, the object is superimposed on the second image in a manner that allows the object to be identified.

[0140] According to the above configuration, the user can grasp the exact position of an object such as a passerby or a vehicle.

[0141] (Appendix 13) 13. The image display method according to claim 11, wherein the time interval includes a third delay time from when detection of the object is completed to when the object is superimposed.

[0142] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0143] (Appendix 14) 14. The video display method according to any one of appendices 8 to 13, further correcting the position of the object in the second video based on the moving speed of the object and the estimated time interval.

[0144] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0145] (Appendix 15) detection means for detecting an object from the first image; a time interval estimation means for estimating a time interval from when the first video is captured until when the object detected by the detection means is superimposed on a second video; and a first position correction means for correcting the position of the object in the second image based on the moving speed of an image capturing device that captures the second image and the time interval estimated by the time interval estimation means.

[0146] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is reduced.

[0147] (Appendix 16) 16. The image display device according to claim 15, wherein the time interval includes a first delay time from when the first image is captured until when the first image is acquired by the detection means.

[0148] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0149] (Appendix 17) 17. The image display device according to claim 15, wherein the time interval includes a second delay time required for the detection means to perform a detection process for the object.

[0150] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0151] (Appendix 18) 18. The image display device according to any one of appendices 15 to 17, further comprising a superimposed image generating means for superimposing, on the second image, the object whose position has been corrected by the first position correcting means.

[0152] According to the above configuration, the user can grasp the exact position of an object such as a passerby or a vehicle.

[0153] (Appendix 19) 19. The image display device according to claim 17, wherein the time interval includes a third delay time from when the detection means finishes detecting the object to when the superimposed image generation means superimposes the object.

[0154] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0155] (Appendix 20) 20. The image display device according to any one of appendices 15 to 19, further comprising a second position correction means for further correcting the position of the object in the second image based on the moving speed of the object and the time interval estimated by the time interval estimation means.

[0156] According to the above configuration, the object position can be corrected so that the deviation of the detected object position is further reduced.

[0157] (Appendix 21) At least one processor is provided, the processor performing a process of detecting an object from the first video; a process of estimating a time interval from when the first video is captured until when the detected object is superimposed on a second video; correcting the position of the object in the second video based on the moving speed of the image capturing device that captures the second video and the time interval; A video display system that executes the above.

[0158] The video display system may further include a memory that stores a program for causing the processor to execute the detecting process, the estimating process, and the correcting process. The program may be recorded on a computer-readable, non-transitory, tangible recording medium.

[0159] (Appendix 22) At least one processor is provided, the processor performing a process of detecting an object from the first video; a process of estimating a time interval from when the first video is captured until when the detected object is superimposed on a second video; correcting the position of the object in the second video based on the moving speed of the image capturing device that captures the second video and the time interval; A video display device that performs the above.

[0160] The image display device may further include a memory that stores a program for causing the processor to execute the detecting process, the estimating process, and the correcting process. The program may be recorded on a computer-readable, non-transitory, tangible recording medium. [Explanation of symbols]

[0161] 1, 1A, 1B Video display device 2 Cameras 3 vehicles 4. Communication Network 10, 10B, 10C control section 11 Detection unit 12 Time interval estimation unit 13 First position correction unit 14 Superimposed image generation unit 15 Communications Department 16 Second position correction unit 20 Image Editing Device 30 Control Center 100, 100A, 100B, 100C Video Display System

Claims

1. A detection means for detecting an object from a first image captured by a first imaging device; a time interval estimation means for estimating a time interval from when the first image is captured until when the object detected by the detection means is superimposed on a second image captured by a second image capturing device; a first position correction means for correcting a position of the object in the second video image based on a moving speed of the second image capture device that captures the second video image and the time interval estimated by the time interval estimation means; Equipped with An image display system, wherein the first image capturing device and the second image capturing device are different image capturing devices.

2. 2. The video display system according to claim 1, wherein the time interval includes a first delay time from when the first video is photographed until the first video is acquired by the detection means.

3. 3. The image display system according to claim 1, wherein the time interval includes a second delay time required for the object detection process by the detection means.

4. 4. The image display system according to claim 1, further comprising a superimposed image generating means for superimposing the object, the position of which has been corrected by the first position correcting means, on the second image.

5. 5. The image display system according to claim 4, wherein, when the object is hidden by another object in the second image, the superimposed image generating means superimposes the object on the second image in a manner that makes the object identifiable.

6. 6. The image display system according to claim 4, wherein the time interval includes a third delay time from when the detection means finishes detecting the object to when the superimposed image generation means superimposes the object.

7. The video display system of any one of claims 1 to 6, further comprising a second position correction means for further correcting the position of the object in the second image based on the moving speed of the object and the time interval estimated by the time interval estimation means.

8. An image display system as described in claim 1, comprising an output means for outputting information extracted from the object detected from the first image.

9. Detecting an object from a first image captured by a first imaging device; estimating a time interval from when the first image is captured until when the detected object is superimposed on a second image captured by a second image capturing device; a moving speed of the second image capturing device that captures the second image and the time interval, and correcting a position of the object in the second image; The image display method, wherein the first image capturing device and the second image capturing device are different image capturing devices.

10. The video display method according to claim 9 , wherein the time interval includes a first delay time from when the first video is shot until the first video is acquired.

11. 11. The video display method according to claim 9, wherein the time interval includes a second delay time required for the object detection process.

12. 12. The image display method according to claim 9, wherein the object, the position of which has been corrected, is superimposed on the second image.

13. In the process of superimposing the object, When the object is hidden by another object in the second image, The image display method according to claim 12 , further comprising superimposing the object on the second image in a manner that allows the object to be identified.

14. 14. The video display method according to claim 12, wherein the time interval includes a third delay time from when detection of the object is completed until when the object is superimposed.

15. 15. The image display method according to claim 9, further comprising correcting the position of the object in the second image based on the moving speed of the object and the estimated time interval.

16. A detection means for detecting an object from a first image captured by a first imaging device; a time interval estimation means for estimating a time interval from when the first image is captured until when the object detected by the detection means is superimposed on a second image captured by a second image capturing device; a first position correction means for correcting a position of the object in the second video image based on a moving speed of the second image capture device that captures the second video image and the time interval estimated by the time interval estimation means; The image display device, wherein the first image capturing device and the second image capturing device are different image capturing devices.

17. 17. The image display device according to claim 16, wherein the time interval includes a first delay time from when the first image is photographed until when the first image is acquired by the detection means.

18. 18. The image display device according to claim 16, wherein the time interval includes a second delay time required for the object detection process by the detection means.

19. 19. The image display device according to claim 16, further comprising a superimposed image generating means for superimposing the object, the position of which has been corrected by the first position correcting means, on the second image.

20. 20. The image display device according to claim 19, wherein the time interval includes a third delay time from when the detection means finishes detecting the object to when the superimposed image generation means superimposes the object.

21. 21. The image display device according to claim 16, further comprising second position correction means for further correcting the position of the object in the second image based on the moving speed of the object and the time interval estimated by the time interval estimation means.

Images