Image processing device, image processing method, imaging device, and recording medium

1 . A movable apparatus including an imaging unit and an image processing device comprising:

a memory storing instructions; and

a processor executing the instructions causing the image processing device to:

acquire outside information including a position information of the movable apparatus;

acquire luminance information of an imaging area associated with the imaging unit;

combine a plurality of images acquired by the imaging unit and to generate a first combined image;

combine a plurality of images acquired by the imaging unit and to generate a second combined image;

wherein a number of combined images to generate the second combined image is larger than a number of combined images to generate the first combined image, (Note: para [0064])

perform a process of outputting the acquired image or the combined image to a display device; and

display the first combined image by the display device without generating the second combined image before a position where the movable apparatus approaches an entrance of a tunnel based on the position information of the movable apparatus,

start generating the second combined image while continuing displaying the first combined image after the movable apparatus passes the position corresponding to the entrance of the tunnel,

then, in a case where a value of the luminance information becomes equal to or less than a predetermined value, switch displaying of the display device from the first combined image to the second combined image.

2 . The movable apparatus according to claim 1 , wherein the processor is further configured to perform the process of generating the first combined image, not to perform the process of generating the second combined image, and to perform the process of outputting the first combined image when the value of the luminance information is equal to or greater than a threshold value.

3 . The movable apparatus according to claim 1 , wherein the processor is further configured to start the process of generating the first combined image when the processor newly acquires the outside information after having performed the process of outputting the second combined image and having stopped the process of generating the first combined image.

4 . The movable apparatus according to claim 3 , wherein the processor is further configured to stop the process of generating the second combined image and perform the process of switching from the second combined image to the first combined image and outputting the first combined image when the processor starts the process of generating the first combined image and the value of the luminance information is equal or greater than the threshold value.

5 . An image processing method that is performed by an image processing device included in a movable apparatus for processing a plurality of images, the image processing method comprising:

acquiring outside information including a position information of the movable apparatus;

acquiring luminance information of an imaging area associated with an imaging unit included in the movable apparatus;

combining the plurality of images acquired by the imaging unit to generate a first combined image;

combine a plurality of images acquired by the imaging unit and to generate a second combined image;

wherein a number of combined images to generate the second combined image is larger than a number of combined images to generate the first combined image,

performing a process of outputting the acquired image or the combined image to a display device,

display the first combined image by the display device without generating the second combined image before a position where the movable apparatus approaches an entrance of a tunnel based on the position information of the movable apparatus,

start generating the second combined image while continuing displaying the first combined image after the movable apparatus passes the position corresponding to the entrance of the tunnel, and

then, in a case where a value of the luminance information becomes equal to or less than a predetermined value, switch displaying of the display device from the first combined image to the second combined image.

6 . A non-transitory computer-readable storage medium configured to store a computer program for controlling a movable apparatus, wherein the computer program comprising instructions for executing following processes:

acquiring outside information including a position information of the movable apparatus;

acquiring luminance information of an image imaging area associated with an imaging unit included in the movable apparatus;

combining the plurality of images acquired by the imaging unit to generate a first combined image;

combine a plurality of images acquired by the imaging unit and to generate a second combined image;

wherein a number of combined images to generate the second combined image is larger than a number of combined images to generate the first combined image,

performing a process of outputting the acquired image or the combined image to a display device,

display the first combined image by the display device without generating the second combined image before a position where the movable apparatus approaches an entrance of a tunnel based on the position information of the movable apparatus,

start generating the second combined image while continuing displaying the first combined image after the movable apparatus passes the position corresponding to the entrance of the tunnel, and

then, in a case where a value of the luminance information becomes equal to or less than a predetermined value, switch displaying of the display device from the first combined image to the second combined image.