Bird's-Eye View Projection Shaping for Natural Vehicle Imaging
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Solution Overview
Problem
Conventional image processing systems for generating bird's-eye view images around moving bodies, such as vehicles, often experience delayed deformation of the projection surface relative to the movement of the body, leading to unnatural image representation.
Innovation Solution
An image processing device that includes an action plan formulation module to generate planned self-position information and peripheral three-dimensional object positions, and a projection shape determination module to dynamically determine the shape of the projection surface based on this information, ensuring the bird's-eye view image accurately reflects the moving body's environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the projection surface is sequentially deformed according to the three-dimensional object around the moving body, then the bird's-eye view image reflects the current environment, but the deformation is delayed with respect to the movement of the moving body resulting in an unnatural image
Solution Approach 1:
The system performs preliminary action by determining the projection surface shape based on the planned self-position (future position) rather than the current actual position. This allows the projection surface to be proactively adjusted to where the vehicle will be, eliminating the visual delay and making the bird's-eye view image appear natural and continuous during vehicle movement.
2Productivity
If the projection surface deformation is based on actual self-position, then the image processing is simple, but the deformation lags behind vehicle movement causing unnatural image representation
Solution Approach 1:
The system uses planned self-position information (pre-computed future position from action plans) to determine the projection surface shape in advance. This maintains simple image processing operations while eliminating the lag effect, as the projection surface is proactively configured for the vehicle's upcoming position rather than reactively adjusting to its current position.
Solution Approach 2:
The system dynamically adapts the projection surface shape determination method based on the vehicle's motion state. When the vehicle is moving, the system switches to using planned self-position for projection surface determination, making the system flexible and adaptive to different operational conditions to maintain image naturalness.
Data Source
AI summary
According to one embodiment, an image processing device includes an action plan formulation module and a projection shape determination module. The action plan formulation module generates, based on action plan information of a moving body, first information including planned self-position information of the moving body and position information of a peripheral three-dimensional object based on the planned self-position information. The projection shape determination module determines, based on the first information, a shape of a projection surface on which a first image acquired by an imaging device mounted on the moving body is projected to generate a bird's-eye view image.