Surround view monitoring system and providing method of the same

Abstract

A surround view monitoring system and a method for providing the same are introduced, comprising: a plurality of matching cameras each mounted on a vehicle and each capturing different areas around the vehicle; a depth camera that acquires distance information to obstacles existing around the vehicle; an image synthesis unit that generates a composite image by synthesizing images captured by the plurality of matching cameras and displays distance information to obstacles acquired by the depth camera on obstacles existing in the composite image; and an image control unit that displays the synthesized composite image on a display device.

Description

Technology Field

[0001] The present invention relates to a surround view monitoring system and a method for providing the same, and more specifically, to a technology for providing a surround view that displays distance information to obstacles. Background Technology

[0003] Recently, the use of front-view, rear-view, and side-view cameras has become widespread in vehicles. These cameras are often used to assist the driver and can improve vehicle stability.

[0004] In particular, a Surround View Monitoring (SVM) system is being developed and commercialized by installing multiple matching cameras on a vehicle to display a 360-degree panoramic view of the vehicle's surroundings.

[0005] The SVM system combines images of the vehicle's surroundings captured by matching cameras installed at various locations on the vehicle to provide SVM images in the form of a top-view image, as if the driver were looking at the vehicle from the sky. This has the advantage of displaying obstacles around the vehicle and eliminating blind spots.

[0006] However, conventional SVM systems display surrounding images on a display device to allow the driver to judge the distance to obstacles, but there was a problem where distance judgment was difficult due to distortion caused by aligning multiple images.

[0007] In particular, while assistance is possible via near-field ultrasonic sensors for the front and rear of the vehicle, there was a problem in determining distance information to obstacles for the sides.

[0009] The matters described above as background technology are intended only to enhance understanding of the background of the present invention and should not be construed as an acknowledgment that they constitute prior art already known to those skilled in the art. Prior art literature

[0011] KR 10-2017-0124232 A The problem to be solved

[0012] The present invention is proposed to solve these problems and aims to provide a surround view monitoring (SVM) system that displays distance information of obstacles in a displayed surround view and a method for providing the same. means of solving the problem

[0014] A surround view monitoring system according to the present invention for achieving the above objective comprises: a plurality of matching cameras each mounted on a vehicle and each capturing different areas around the vehicle; a depth camera that acquires distance information to obstacles existing around the vehicle; an image synthesis unit that generates a composite image by synthesizing images captured by the plurality of matching cameras and displays distance information to obstacles acquired by the depth camera on obstacles existing in the composite image; and an image control unit that displays the synthesized composite image on a display device.

[0015] A plurality of matching cameras may include a first camera that photographs the front of the vehicle; a second camera that photographs the rear of the vehicle; a third camera that photographs the left side of the vehicle; and a fourth camera that photographs the right side of the vehicle.

[0016] A depth camera can sense the distance to obstacles present around the vehicle by transmitting and receiving infrared rays around the vehicle.

[0017] Multiple depth cameras are provided, and each can acquire distance information to obstacles located in front, behind, and on both sides of the vehicle.

[0018] Multiple depth cameras may be spaced apart in the left-right direction at the front and rear ends of the vehicle, or multiple depth cameras may be spaced apart in the front-rear direction at the side ends of the vehicle.

[0019] The image synthesis unit can display distance information for obstacles by displaying obstacles in the synthesized image at predetermined colors at intervals separated from the vehicle.

[0020] The image control unit can detect obstacles in the composite image that are separated from the vehicle at a distance less than or equal to a preset distance, and simultaneously display an enlarged image containing the detected obstacles in the composite image and the composite image on a display device.

[0021] When multiple obstacles are detected in a composite image at a distance from the vehicle less than or equal to a preset distance, the image control unit can divide and display multiple enlarged images containing each of the detected obstacles on a display device.

[0022] The image control unit detects obstacles within a preset distance from the vehicle in the composite image and can simultaneously display the image containing adjacent obstacles and the composite image among the images captured by multiple matching cameras on a display device.

[0023] The image control unit can detect the obstacle with the shortest distance from the vehicle in the composite image and simultaneously display an enlarged image of the area containing the detected obstacle and the composite image on a display device.

[0025] A method for providing a surround view according to the present invention for achieving the above objective comprises: a step of photographing different areas around a vehicle using a plurality of matching cameras; a step of acquiring distance information to obstacles existing around the vehicle using a depth camera; a step of generating a composite image by synthesizing images captured by a plurality of matching cameras and displaying the distance information to obstacles acquired by the depth camera on obstacles existing in the composite image; and a step of displaying the synthesized composite image on a display device.

[0026] In the step of acquiring distance information to obstacles, the distance to obstacles present around the vehicle can be sensed by transmitting and receiving infrared rays around the vehicle.

[0027] In the step of generating a composite image and displaying distance information, distance information regarding obstacles can be displayed by depicting obstacles in the composite image at intervals of distance from the vehicle using a preset color.

[0028] Prior to the step of displaying the composite image on a display device, the method further includes the step of detecting an obstacle in the composite image whose distance from the vehicle is less than or equal to a preset distance; and in the step of displaying the composite image on a display device, an enlarged image of the area containing the detected obstacle in the composite image and the composite image can be simultaneously displayed on the display device.

[0029] In the step of displaying the composite image on a display device, if multiple obstacles are detected in the composite image at a distance from the vehicle less than or equal to a preset distance in the obstacle detection step, multiple enlarged images containing each of the detected obstacles can be divided and displayed on the display device.

[0030] Prior to the step of displaying the composite image on a display device, the method further includes the step of detecting an obstacle in the composite image whose distance from the vehicle is less than or equal to a preset distance; and in the step of displaying the composite image on a display device, the image containing an adjacent obstacle among the images captured by a plurality of matching cameras and the composite image can be simultaneously displayed on the display device.

[0031] Prior to the step of displaying the composite image on a display device, the method further includes the step of detecting the obstacle with the shortest distance from the vehicle in the composite image; and in the step of displaying the composite image on a display device, an enlarged image of the area containing the detected obstacle in the composite image and the composite image can be simultaneously displayed on the display device. Effects of the invention

[0033] According to the surround view monitoring system and the method for providing the same of the present invention, by displaying distance information of obstacles in the surround view provided to the driver, the driver has the effect of intuitively perceiving the distance to the obstacles. Brief explanation of the drawing

[0035] FIG. 1 is a configuration diagram of a surround view monitoring system according to one embodiment of the present invention. FIGS. 2 and 3 respectively illustrate a side view and a top view of a vehicle equipped with a plurality of matching cameras and a depth camera according to an embodiment of the present invention. FIGS. 4 to 7 illustrate screens displayed on a display device according to various embodiments of the present invention. FIG. 8 is a flowchart of a method for providing a surround view according to an embodiment of the present invention. Specific details for implementing the invention

[0036] Specific structural or functional descriptions of embodiments of the present invention disclosed in this specification or application are merely illustrative for the purpose of explaining embodiments according to the present invention, and embodiments according to the present invention may be implemented in various forms and should not be interpreted as being limited to the embodiments described in this specification or application.

[0037] Since embodiments according to the present invention may be subject to various modifications and may take various forms, specific embodiments are illustrated in the drawings and described in detail in this specification or application. However, this is not intended to limit embodiments according to the concept of the present invention to specific disclosed forms, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the present invention.

[0038] Terms such as "first" and / or "second" may be used to describe various components, but said components shall not be limited by said terms. For the sole purpose of distinguishing one component from another, for example, without departing from the scope of rights according to the concept of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0039] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. Conversely, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. Other expressions describing the relationship between components, such as "between" and "exactly between," or "adjacent to" and "directly adjacent to," should be interpreted in the same way.

[0040] The terms used herein are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “comprising” or “having” are intended to specify the existence of the described features, numbers, steps, actions, components, parts, or combinations thereof, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0041] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this specification.

[0042] The present invention will be described in detail below by explaining preferred embodiments of the invention with reference to the attached drawings. Identical reference numerals in each drawing indicate identical components.

[0043] FIG. 1 is a configuration diagram of a surround view monitoring system according to one embodiment of the present invention.

[0044] Referring to FIG. 1, a surround view monitoring system according to one embodiment of the present invention comprises: a plurality of matching cameras (10) each mounted on a vehicle (V) and each capturing different areas around the vehicle (V); a depth camera (20) that acquires distance information to obstacles existing around the vehicle (V); an image synthesis unit (30) that generates a composite image (S) by synthesizing images captured by the plurality of matching cameras (10) and displays distance information to obstacles acquired by the depth camera (20) on obstacles existing in the composite image (S); and an image control unit (40) that displays the synthesized composite image (S) on a display device (50).

[0045] An image synthesis unit (30) and an image control unit (40) according to an exemplary embodiment of the present invention may be implemented through a non-volatile memory (not shown) configured to store data regarding an algorithm configured to control the operation of various components of a vehicle (V) or software instructions for reproducing said algorithm, and a processor (not shown) configured to perform the operation described below using the data stored in said memory. Here, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip integrated with each other. The processor may take the form of one or more processors.

[0046] A plurality of matching cameras (10) each photograph the surroundings of the vehicle (V), and the image synthesis unit (30) can generate a composite image (S) by synthesizing each image taken by the plurality of matching cameras (10).

[0047] In one embodiment, the image synthesis unit (30) can generate a composite image (S) that simultaneously displays the front, rear, left side, and right side of the vehicle (V) while looking down at the vehicle (V) from above.

[0048] The depth camera (20) is a TOF camera and can acquire distance information to obstacles existing around the vehicle (V). Specifically, the depth camera (20) can acquire the Time of Flight (TOF) of a signal by transmitting and receiving signals around the vehicle (V). The depth camera (20) can acquire distance information to obstacles from the TOF of the signal.

[0049] The image synthesis unit (30) can display distance information from the obstacle acquired from the depth camera (20) on the obstacle present in the composite image (S) formed by synthesizing images each captured by the plurality of matching cameras (10).

[0050] In particular, the image synthesis unit (30) can visualize and display distance information to obstacles acquired from the depth camera (20) on the composite image (S).

[0051] The image control unit (40) can display the composite image (S) synthesized by the image synthesis unit (30) on a display device (50). Here, the display device (50) may be an AVN (Audio, Video, Navigation) screen, a HUD (Head Up Display) screen, or a cluster screen.

[0052] According to the present invention, by displaying distance information of obstacles in the surround view provided to the driver, the driver has the effect of intuitively perceiving the distance to the obstacles.

[0053] Specifically, the plurality of matching cameras (10) may include a first camera (11) that photographs the front of the vehicle (V); a second camera (12) that photographs the rear of the vehicle (V); a third camera (13) that photographs the left side of the vehicle (V); and a fourth camera (14) that photographs the right side of the vehicle (V).

[0054] Multiple cameras are mounted on the vehicle (V) and can respectively capture images of the front, left side, right side, and rear of the vehicle (V). In particular, multiple cameras are positioned at the front, left side, right side, and rear of the vehicle (V) respectively to capture images of the surroundings of the vehicle (V). Images captured by adjacent cameras may partially overlap each other.

[0055] The image synthesis unit (30) can synthesize images captured by each of the multiple cameras to produce a composite image (S) that displays a surround view. Additionally, the image synthesis unit (30) can set a synthesis boundary to synthesize images captured by adjacent cameras within an overlapping area where images captured by multiple cameras overlap, and can synthesize a composite image (S) according to the synthesis boundary in an area where parts of images captured by multiple cameras overlap each other.

[0056] FIGS. 2 and 3 respectively illustrate a side view and a top view of a vehicle (V) equipped with a plurality of matching cameras (10) and a depth camera (20) according to an embodiment of the present invention.

[0057] Referring further to FIGS. 2 and 3, the first camera (11) may be located at the front of the vehicle (V), the second camera (12) may be located at the rear of the vehicle (V), the third camera (13) may be located on the left side of the vehicle (V), and the fourth camera (14) may be located on the right side of the vehicle (V).

[0058] The depth camera (20) can sense the distance to obstacles present around the vehicle (V) by transmitting and receiving infrared (IR) around the vehicle (V).

[0059] In one embodiment, the depth camera (20) emits a pulse-modulated infrared (IR) beam at a target from the origin of a spherical coordinate system to horizontally (pan, Scanning in the ) and vertical (tilt, θ), different discontinuity points (г, θ, on the sphere surface The time it takes for an object to be reflected back to the origin by backscattering occurring in a point-wise distribution is the Time of Flight (TOF).

[0060] The depth camera (20) uses a grid array electronic eyes' in which the number of infrared detectors (IR detectors) varies according to the number of pixels to convert these infrared pulses into electronic signals, and is a three-dimensional (г, θ, It may be a video device.

[0061] A depth camera (20) according to one embodiment of the present invention is provided in a plurality of units, each of which can acquire distance information to obstacles located in front, behind, and on both sides of the vehicle (V).

[0062] In one embodiment, the depth camera (20) may be positioned at a location corresponding to a plurality of matching cameras (10) to acquire distance information to obstacles located in front, behind, to the left, and to the right of the vehicle (V).

[0063] In another embodiment, a plurality of depth cameras (20) may be spaced apart in the left-right direction at the front and rear ends of the vehicle (V), or a plurality of depth cameras may be spaced apart in the front-back direction at the side ends of the vehicle (V).

[0064] That is, multiple depth cameras (20) can be spaced apart and arranged in the left-right and front-back directions of the vehicle (V).

[0065] More specifically, the depth camera (20) can be installed on the A-pillar, B-pillar, C-pillar, both side mirrors, front and rear bumpers, grille, garnish, back panel, repeater, front and rear windshield, or door handle, etc.

[0067] FIGS. 4 to 7 illustrate a screen displayed on a display device (50) according to various embodiments of the present invention.

[0068] Referring further to FIGS. 4 to 7, the image synthesis unit (30) can display distance information for obstacles by drawing obstacles in the synthesized image (S) at predetermined colors at distances from the vehicle (V).

[0069] In one embodiment, colors may be preset for each distance from the vehicle (V). For example, the distance from the vehicle (V) may be preset as red for a very close range (10 cm to 1 m), yellow for a relatively less close range (1 m to 2 m), green for an intermediate range (2 m to 3 m), sky blue for a relatively far range (3 m to 4 m), and blue for a very far range (4 m to 10 m).

[0070] In addition, in another embodiment, the color, brightness, saturation, etc. can be set to vary continuously as the distance from the vehicle (V) varies.

[0071] Accordingly, obstacles located in the composite image (S) are displayed in a preset color, so that the distance from the vehicle (V) can be intuitively displayed to the driver.

[0072] In one embodiment, the image control unit (40) detects an obstacle in the composite image (S) that is separated from the vehicle (V) by a distance less than or equal to a preset distance, and can simultaneously display an enlarged image (E) that includes the detected obstacle in the composite image (S) and the composite image (S) on a display device (50).

[0073] In particular, as illustrated in FIG. 4, the display device (50) can display an enlarged image (E) and a composite image (S) simultaneously in a divided manner.

[0074] Here, the enlarged image (E) is an enlarged image of an area containing an obstacle that is separated from the vehicle (V) by a predetermined distance or less, and can simultaneously enlarge and display a part of the vehicle (V) and the obstacle.

[0075] The distance at which an obstacle is separated from the vehicle (V) can be detected from distance information obtained from the depth camera (20). In addition, the preset distance can be set to, for example, 1 m.

[0076] When a plurality of obstacles are detected in a composite image (S) that are separated from the vehicle (V) by a distance less than or equal to a preset distance, the image control unit (40) can divide and display a plurality of enlarged images (E) each containing the detected obstacles on a display device (50).

[0077] In particular, as illustrated in FIG. 5, when there are multiple obstacles that are separated from the vehicle (V) by a distance less than or equal to a preset distance, multiple enlarged images (E) can be divided and displayed on the display device (50).

[0078] For example, if there are two obstacles that are separated from the vehicle (V) by a distance less than or equal to a preset distance, the display area of ​​the display device (50) can be divided in the up-down direction or left-right direction to display two enlarged images (E). Additionally, if there are three obstacles, the enlarged images (E) can be arranged in a triangle, and if there are four obstacles, the display area of ​​the display device (50) can be divided into four parts to display the enlarged images (E).

[0079] In another embodiment, the image control unit (40) detects an obstacle that is less than or equal to a preset distance from the vehicle (V) in the composite image (S), and can simultaneously display the image containing the adjacent obstacle and the composite image (S) among the images captured by the plurality of matching cameras (10) on the display device (50).

[0080] In particular, as shown in FIG. 6, an image containing an obstacle detected among images captured by a plurality of matching cameras (10) can be displayed simultaneously with a composite image (S).

[0081] For example, if the detected obstacle is located at the rear of the vehicle (V), an image captured by the second camera (12) that captures the rear of the vehicle (V) can be displayed simultaneously with the composite image (S).

[0082] Additionally, the image control unit (40) can divide and display an image containing an obstacle when the obstacle exists in an area where the shooting areas of a plurality of matching cameras (10) overlap each other.

[0083] In another embodiment, the image control unit (40) can display the left rear image or the right rear image when an obstacle is simultaneously displayed in the front image or the rear image and the left rear image or the right rear image. Accordingly, the obstacle can be continuously displayed on the display device (50) even when the vehicle (V) moves forward or backward.

[0084] In another embodiment, the image control unit (40) can detect the obstacle with the shortest distance from the vehicle (V) in the composite image (S), and simultaneously display the enlarged image (E) containing the detected obstacle and the composite image (S) on the display device (50).

[0085] In particular, as illustrated in FIG. 7, an enlarged image (E) of the obstacle with the shortest distance from the vehicle (V) in the composite image (S) can be displayed simultaneously with the composite image (S) on the display device (50).

[0086] That is, the image synthesis unit (30) can detect multiple obstacles in the composite image (S) and detect the obstacle with the shortest distance from the distance information of the multiple obstacles. The image control unit (40) can display an enlarged image (E) on a display device (50) in which the detected obstacle with the shortest distance and a part of the vehicle (V) are enlarged and displayed.

[0088] FIG. 8 is a flowchart of a method for providing a surround view according to an embodiment of the present invention.

[0089] Referring further to FIG. 8, a method for providing a surround view according to one embodiment of the present invention comprises: a step (S100) of each capturing different areas around a vehicle (V) with a plurality of matching cameras (10); a step (S200) of acquiring distance information with respect to obstacles existing around the vehicle (V) with a depth camera (20); a step (S300) of generating a composite image (S) that displays the distance information with respect to obstacles acquired from the depth camera (20) on obstacles existing in the images captured by the plurality of matching cameras (10); and a step (S500) of displaying the composite image (S) on a display device (50).

[0090] In the step (S200) of acquiring distance information to an obstacle, the distance to an obstacle existing around the vehicle (V) can be sensed by transmitting and receiving infrared rays around the vehicle (V).

[0091] In the step (S300) of generating a composite image (S), distance information regarding obstacles can be displayed by drawing obstacles in the composite image (S) at predetermined colors at distances from the vehicle (V).

[0092] Prior to the step (S500) of displaying the composite image (S) on the display device (50), the method further includes the step (S400) of detecting an obstacle in the composite image (S) that is separated from the vehicle (V) by a predetermined distance or less; and in the step (S500) of displaying the composite image (S) on the display device (50), the enlarged image (E) containing the area of ​​the obstacle detected in the composite image (S) and the composite image (S) can be displayed simultaneously on the display device (50).

[0093] In the step (S500) of displaying the composite image (S) on the display device (50), if multiple obstacles are detected in the composite image (S) at a distance from the vehicle (V) that is less than or equal to a preset distance, the multiple enlarged images (E) each containing the detected obstacles can be divided and displayed on the display device (50).

[0094] Prior to the step (S500) of displaying the composite image (S) on the display device (50), the method further includes the step (S400) of detecting an obstacle in the composite image (S) that is separated from the vehicle (V) by a predetermined distance or less; and in the step (S500) of displaying the composite image (S) on the display device (50), the image containing an adjacent obstacle among the images captured by the plurality of matching cameras (10) and the composite image (S) can be simultaneously displayed on the display device (50).

[0095] Prior to the step (S500) of displaying the composite image (S) on the display device (50), the method further includes the step (S400) of detecting the obstacle that is closest in distance from the vehicle (V) in the composite image (S); and in the step of displaying the composite image (S) on the display device (50), the enlarged image (E) containing the area of ​​the obstacle detected in the composite image (S) and the composite image (S) can be displayed simultaneously on the display device (50).

[0097] Although specific embodiments of the present invention have been illustrated and described, it will be obvious to those skilled in the art that the present invention can be modified and changed in various ways without departing from the technical spirit of the invention as provided by the following claims. Explanation of the symbols

[0099] 10: Matching camera 20: Depth camera 30 : Image Synthesis Unit 40 : Image Control Unit 50 : Display device

Claims

Claim 1 A surround view monitoring system comprising: a plurality of matching cameras each mounted on a vehicle and each capturing different areas around the vehicle; a depth camera acquiring distance information to obstacles existing around the vehicle; an image synthesis unit that generates a composite image by synthesizing images captured by the plurality of matching cameras and displays distance information to obstacles acquired by the depth camera on obstacles existing in the composite image; and an image control unit that displays the composite image on a display device; wherein the image control unit detects obstacles in the composite image whose distance from the vehicle is less than or equal to a preset distance, and simultaneously displays an enlarged image of an area containing the detected obstacles in the composite image and the composite image on a display device. Claim 2 A surround view monitoring system according to claim 1, characterized in that the plurality of matching cameras include: a first camera for photographing the front of the vehicle; a second camera for photographing the rear of the vehicle; a third camera for photographing the left side of the vehicle; and a fourth camera for photographing the right side of the vehicle. Claim 3 A surround view monitoring system according to claim 1, wherein the depth camera senses the distance to obstacles present around the vehicle by transmitting and receiving infrared rays around the vehicle. Claim 4 A surround view monitoring system according to claim 1, wherein the depth cameras are provided in plurality, each acquiring distance information to obstacles located in front, behind, and on both sides of the vehicle. Claim 5 A surround view monitoring system according to claim 4, characterized in that a plurality of depth cameras are spaced apart in the left-right direction at the front and rear ends of a vehicle, or a plurality of depth cameras are spaced apart in the front-rear direction at the side ends of a vehicle. Claim 6 A surround view monitoring system according to claim 1, wherein the image synthesis unit displays distance information for obstacles by displaying obstacles in the synthesized image at predetermined colors at intervals separated from the vehicle. Claim 7 delete Claim 8 A surround view monitoring system according to claim 1, wherein the image control unit, when a plurality of obstacles are detected in a composite image such that the distance from the vehicle is less than or equal to a preset distance, divides and displays a plurality of enlarged images each containing the detected obstacles on a display device. Claim 9 A surround view monitoring system comprising: a plurality of matching cameras each mounted on a vehicle and each capturing different areas around the vehicle; a depth camera acquiring distance information to obstacles existing around the vehicle; an image synthesis unit that generates a composite image by synthesizing images captured by the plurality of matching cameras and displays distance information to obstacles acquired by the depth camera on obstacles existing in the composite image; and an image control unit that displays the composite image on a display device; wherein the image control unit detects obstacles in the composite image that are less than or equal to a preset distance from the vehicle and simultaneously displays the image containing adjacent obstacles among the images captured by the plurality of matching cameras and the composite image on a display device. Claim 10 A surround view monitoring system comprising: a plurality of matching cameras each mounted on a vehicle and each capturing different areas around the vehicle; a depth camera acquiring distance information to obstacles existing around the vehicle; an image synthesis unit that generates a composite image by synthesizing images captured by the plurality of matching cameras and displays distance information to obstacles acquired by the depth camera on obstacles existing in the composite image; and an image control unit that displays the composite image on a display device; wherein the image control unit detects the obstacle with the shortest distance from the vehicle in the composite image and simultaneously displays an enlarged image of the area containing the detected obstacle and the composite image on a display device. Claim 11 A method for providing a surround view, comprising: a step of each capturing different areas around a vehicle using a plurality of matching cameras; a step of acquiring distance information to obstacles existing around the vehicle using a depth camera; a step of generating a composite image by combining images captured by the plurality of matching cameras and displaying the distance information to obstacles acquired by the depth camera on obstacles existing in the composite image; and a step of displaying the composite image on a display device; and further comprising, prior to the step of displaying the composite image on a display device, a step of detecting obstacles in the composite image whose distance from the vehicle is less than or equal to a preset distance; wherein, in the step of displaying the composite image on a display device, an enlarged image of an area containing obstacles detected in the composite image and the composite image are simultaneously displayed on a display device. Claim 12 A method for providing a surround view according to claim 11, wherein the step of acquiring distance information to an obstacle involves sensing the distance to an obstacle existing around the vehicle by transmitting and receiving infrared rays around the vehicle. Claim 13 A method for providing a surround view according to claim 11, wherein in the step of generating a composite image and displaying distance information, distance information regarding obstacles is displayed by drawing obstacles in the composite image at intervals of distance from the vehicle in a preset color. Claim 14 delete Claim 15 A method for providing a surround view according to claim 11, wherein in the step of displaying a composite image on a display device, when a plurality of obstacles are detected in the composite image at a distance from the vehicle less than or equal to a preset distance, a plurality of enlarged images each containing the detected obstacles are divided and displayed on a display device. Claim 16 A method for providing a surround view, comprising: a step of each capturing different areas around a vehicle using a plurality of matching cameras; a step of acquiring distance information to obstacles existing around the vehicle using a depth camera; a step of generating a composite image by combining images captured by a plurality of matching cameras and displaying distance information to obstacles acquired by the depth camera on obstacles existing in the composite image; and a step of displaying the composite image on a display device; and further comprising, prior to the step of displaying the composite image on a display device, a step of detecting obstacles in the composite image whose distance from the vehicle is less than or equal to a preset distance; wherein, in the step of displaying the composite image on a display device, the image containing adjacent obstacles among the images captured by the plurality of matching cameras and the composite image are simultaneously displayed on the display device. Claim 17 A method for providing a surround view, comprising: a step of each capturing different areas around a vehicle using a plurality of matching cameras; a step of acquiring distance information to an obstacle existing around the vehicle using a depth camera; a step of generating a composite image by combining images captured by the plurality of matching cameras and displaying the distance information to the obstacle acquired by the depth camera on an obstacle existing in the composite image; and a step of displaying the composite image on a display device; and further comprising, prior to the step of displaying the composite image on a display device, a step of detecting the obstacle with the shortest distance from the vehicle in the composite image; wherein, in the step of displaying the composite image on a display device, an enlarged image of the area containing the obstacle detected in the composite image and the composite image are simultaneously displayed on a display device.

Images