Method and device for displaying a front-view of a vehicle's surrounding and respective vehicle
View Patent ↗The invention relates to method for displaying a front-view of a vehicle's ( 42 ) surrounding, the method comprising the steps of: capturing (S 1 ) camera images ( 20 ) of the vehicle's ( 42 ) surrounding through a lens ( 53 ) of a vehicle camera ( 44 ) on an image sensor ( 52 ) of said vehicle camera ( 44 ); transforming (S 2 ) said captured camera images ( 20 ) by a processing unit ( 101 ) into display images ( 30 ), said display images ( 30 ) being substantially projected in parallel onto a projection plane ( 90 ) being parallel to an image sensor plane ( 54 ) of said image sensor ( 52 ); and displaying (S 3 ) said display images ( 30 ) on a display device ( 102 ) for viewing by a driver of said vehicle ( 42 ).
1. A method for displaying a front-view of a vehicle's ( 42 ) surrounding, the method comprising the steps of:
capturing (S 1 ) camera images ( 20 ) of the vehicle's ( 42 ) surrounding through a lens ( 53 ) of a vehicle camera ( 44 ) on an image sensor ( 52 ) of said vehicle camera ( 44 ), said camera images ( 20 ) comprising a plurality of camera pixels ( 61 - 86 );
transforming (S 2 ) said captured camera images ( 20 ) by a processing unit ( 101 ) into display images ( 30 ) corresponding to images being projected in parallel onto a projection plane ( 91 ) being parallel to an image sensor plane ( 54 ) of said image sensor ( 52 ), wherein a virtual plane ( 40 ) being divided into a plurality of virtual pixels ( 41 ) is defined at a predetermined distance ( 43 ) from the vehicle camera ( 44 ), wherein the projection ( 51 ) of each virtual pixel ( 41 ) onto the camera image ( 20 ) through the lens ( 53 ) is computed, and wherein the display image ( 30 ) is generated, the display image ( 30 ) having a plurality of display pixels ( 31 ), each display pixel ( 31 ) being associated with a corresponding virtual pixel ( 41 ), and wherein each display pixel ( 31 ) is generated by interpolating and/or averaging and/or filtering over the camera pixels ( 61 - 86 ) lying in a vicinity of the projection ( 51 ) of the associated virtual pixel ( 41 ); and
displaying (S 3 ) said display images ( 30 ) on a display device ( 102 ) for viewing by a driver of said vehicle ( 42 ).
2. The method according to claim 1 , wherein each display pixel ( 31 ) is generated by the averaging and/or the filtering over the camera pixels lying in the vicinity of the projection ( 51 ) of the associated virtual pixel ( 41 ).
3. The method according to claim 1 , wherein each display pixel ( 31 ) is generated by the interpolating over the camera pixels ( 61 - 86 ) lying in the vicinity of the projection ( 51 ) of the associated virtual pixel ( 41 ).
4. A device ( 100 ) for displaying a front-view of a vehicle's ( 42 ) surrounding, comprising:
a vehicle camera ( 44 ), adapted to capture camera images ( 20 ) of the vehicle's ( 42 ) surrounding through a lens ( 53 ) of said vehicle camera ( 44 ) on an image sensor ( 52 ) of said vehicle camera ( 44 ), said camera images ( 20 ) comprising a plurality of camera pixels ( 61 - 86 );
a processing unit ( 101 ), adapted to transform said captured camera images ( 20 ) into display images ( 30 ) corresponding to images being projected in parallel onto a projection plane ( 91 ) being parallel to an image sensor plane ( 54 ) of said image sensor ( 52 ), wherein the processing unit ( 101 ) is adapted to define a virtual plane ( 40 ) being divided into a plurality of virtual pixels ( 41 ) at a predetermined distance ( 43 ) from the vehicle camera ( 44 ), to compute the projection ( 51 ) of each virtual pixel ( 41 ) onto the camera image ( 20 ) through the lens ( 53 ), and to generate the display image ( 30 ), the display image ( 30 ) having a plurality of display pixels ( 31 ), each display pixel ( 31 ) being associated with a corresponding virtual pixel ( 41 ), and wherein the processing unit ( 101 ) is adapted to generate each display pixel ( 31 ) by interpolating and/or averaging and/or filtering over the camera pixels ( 61 - 86 ) lying in a vicinity of the projection ( 51 ) of the associated virtual pixel ( 41 ); and
a display device ( 102 ), adapted to display said display images ( 30 ) for viewing by a driver of said vehicle ( 42 ).
5. The device ( 100 ) according to claim 4 , wherein the processing unit is adapted to generate each display pixel ( 31 ) by the averaging and/or the filtering over the camera pixels ( 61 - 86 ) lying in the vicinity of the projection ( 51 ) of the associated virtual pixel ( 41 ).
6. The device ( 100 ) according to claim 4 , wherein the processing unit is adapted to generate each display pixel ( 31 ) by the interpolating over the camera pixels ( 61 - 86 ) lying in the vicinity of the projection ( 51 ) of the associated virtual pixel ( 41 ).
7. A vehicle ( 42 ), comprising the device according to claim 4 , in combination with a vehicle body.
8. The method according to claim 1 , wherein the number and location of display pixels ( 31 ) correspond to the number and location of the associated virtual pixels ( 41 ).
9. The method according to claim 3 , wherein the interpolating over the camera pixels ( 61 - 86 ) comprises bilinear interpolation or cubic b-spline interpolation.
10. The method according to claim 1 , wherein the camera pixels ( 61 - 86 ) lying in the vicinity of the projection ( 51 ) of the associated virtual pixel ( 41 ) comprise all pixels having a common boundary with the camera pixels ( 61 ) comprising the projection ( 51 ).