To enable an image photographed with a first camera and an image photographed with a second camera to be easily synthesized using three-dimensional information on a following vehicle even when the following vehicle approaches extremely close to an own vehicle.SOLUTION: An image processing device, which comprises an image acquisition part that acquires images photographed with first-third cameras and a synthesizing part that synthesizes an image of a dead angle area photographed with the second camera with a dead angle area of an image photographed with the first camera, further comprises: a three-dimensional information acquisition part that acquires three-dimensional information on a following vehicle by stereo view of the second camera and the third camera; and a holding part that holds vehicle-shape information on the following vehicle when the whole of the following vehicle is in a range of the stereo view, which when a portion of the following vehicle is out of the range of the stereo view, determines three-dimensional information corresponding to a part of the following vehicle using the three-dimensional information acquired by the three-dimensional information acquisition part and the vehicle-shape information held by the holding part, to synthesize the images.SELECTED DRAWING: Figure 8

    【課題】後方車両が至近距離まで近づいたときでも、後方車両の3次元情報を用いて、第1のカメラで撮影した画像と第2のカメラで撮影した画像とを合成することを容易にする。【解決手段】画像処理装置は、第1〜3のカメラが撮影した画像を取得する画像取得部と、第1のカメラで撮影された画像の死角領域に第2のカメラで撮影された死角領域画像を合成する合成部と、を備えた画像処理装置であって、第2のカメラと第3のカメラとのステレオ視により後方車両の3次元情報を取得する3次元情報取得部と、後方車両の全体がステレオ視の範囲内にあるときに後方車両の車両形状情報を保持する保持部と、を備え、後方車両の一部がステレオ視の範囲外になった場合、3次元情報取得部が取得する3次元情報と保持部が保持する車両形状情報とを用いて、後方車両の一部に対応する3次元情報を決定し、画像を合成する。【選択図】図8


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    Title :

    IMAGE PROCESSING DEVICE, IMAGE PROCESSING SYSTEM, IMAGE PROCESSING METHOD AND PROGRAM


    Additional title:

    画像処理装置、画像処理システム、画像処理方法、及びプログラム


    Contributors:
    SUDA RYOHEI (author)

    Publication date :

    2020-11-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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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