PROBLEM TO BE SOLVED: To provide an overhead image of the periphery of a vehicle that is easily applicable to the vehicle, and that properly determines change in posture of the vehicle when a posture of the vehicle changes and further is appropriately corrected on the basis of a determination result.SOLUTION: A posture change determination device includes: an image acquisition section 41 which acquires multiple periphery images photographing the periphery of a vehicle by using a front part periphery photographing camera 21 or a rear part periphery photographing camera 22 or a left side periphery photographing camera 23 or a right side periphery photographing camera 24; and a posture change determination section 44 which determines whether or not a posture of the vehicle has changed, on the basis of the multiple periphery images. Further, an overhead image generation section 45 generates an overhead image which has been corrected according to a change in posture of the front part periphery photographing camera 21 or the rear part periphery photographing camera 22 or the left side periphery photographing camera 23 or the right side periphery photographing camera 24, on the basis of a determination result of the posture change determination section 44.SELECTED DRAWING: Figure 1
【課題】車両に容易に適用可能で、車両の姿勢が変化した場合に、適切に車両の姿勢の変化を判定することに加え、判定結果に基づき適切に補正された車両周辺の俯瞰映像を提供すること。【解決手段】前方用周辺撮影カメラ21または後方用周辺撮影カメラ22または左側方用周辺撮影カメラ23または右側方用周辺撮影カメラ24で車両の周辺を撮影した複数の周辺映像を取得する映像取得部41と、複数の周辺映像に基づき、車両の姿勢が変化したか否かを判定する姿勢変化判定部44とを備える。また、姿勢変化判定部44の判定結果に基づき、俯瞰映像生成部45は、前方用周辺撮影カメラ21または後方用周辺撮影カメラ22または左側方用周辺撮影カメラ23または右側方用周辺撮影カメラ24の姿勢の変化に応じて補正した俯瞰映像を生成する。【選択図】図1
POSTURE CHANGE DETERMINATION DEVICE, OVERHEAD IMAGE GENERATION DEVICE, OVERHEAD IMAGE GENERATION SYSTEM, POSTURE CHANGE DETERMINATION METHOD, AND PROGRAM
姿勢変化判定装置、俯瞰映像生成装置、俯瞰映像生成システム、姿勢変化判定方法およびプログラム
2017-12-21
Patent
Electronic Resource
Japanese
IPC: | B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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