Image processing device
Provided is an image processing device that can accurately detect a target object, even when a high-distortion lens is used. According to the present invention, a camera 100 captures images in accordance with a synchronization signal Sig 1 , a camera 101 captures images in accordance with a synchronization signal Sig 2 , an area of interest setting unit 1033 sets an area of interest that represents a region to which attention is to be paid, a phase difference setting unit 1034 sets a shift .DELTA.t (a phase difference) for synchronization signal Sig 1 and synchronization signal Sig 2 that synchronizes the imaging timing of camera 100 and camera 101 with respect to the area of interest in the images captured by camera 100 and a region of the images captured by camera 101 that corresponds to the area of interest, and a synchronization signal generation unit 102 generates synchronization signal Sig 1 and synchronization signal Sig 2 on the basis of the shift .DELTA.t.
1. An image processing device comprising:
a first imaging unit that takes a first image in accordance with a first synchronization signal;
a second imaging unit that takes a second image in accordance with a second synchronization signal;
an area of interest setting unit that sets an area of interest that represents a region to which attention is to be paid;
a phase difference setting unit that sets a phase difference for the first synchronization signal and the second synchronization signal that synchronizes imaging timing of the first imaging unit and the second imaging unit with respect to the area of interest in the first image and a region in the second image that corresponds to the area of interest;
a synchronization signal generation unit that generates the first synchronization signal and the second synchronization signal on the basis of the phase difference; and
a scene determination unit that detects a vertical shake of an own vehicle with predetermined magnitude or more;
wherein, in response to where a vertical shake of an own vehicle with predetermined magnitude or more is detected, the area of interest setting unit switches between a central unit of the first image and a surrounding unit of the first image at a predetermined time ratio, and sets as the area of interest; and
wherein the area of interest setting unit sets the area of interest according to a situation including a brightness detected in a surrounding environment of the image processing device.
2. The image processing device according to claim 1 comprising a vehicle speed sensor that measures speed of an own vehicle,
wherein the area of interest setting unit sets the area of interest according to speed of an own vehicle.
3. The image processing device according to claim 2 ,
wherein the area of interest setting unit sets a vicinity of a center of an optical axis of the first imaging unit in the first image as the area of interest in a case of high-speed traveling in which the speed of the own vehicle is equal to or higher than predetermined speed, and sets a surrounding unit of the first image as the area of interest in a case of low-speed traveling in which the speed of the own vehicle is lower than the predetermined speed.
4. The image processing device according to claim 1 ,
wherein, in a case where a target object to which predetermined priority is assigned is detected, the area of interest setting unit sets a region where the target object to which predetermined priority is assigned is detected as the area of interest.
5. The image processing device according to claim 4 ,
wherein, in a case where a pedestrian is detected as the target object, the area of interest setting unit sets the phase difference so as to synchronize imaging timing of the first imaging unit and the second imaging unit at a position of a head of the pedestrian.
6. The image processing device according to claim 1 comprising a geometric correction amount calculation unit that calculates a geometric correction amount of the second image corresponding to the first image with respect to the area of interest,
wherein the phase difference setting unit sets a phase difference according to the geometric correction amount.
7. The image processing device according to claim 6 comprising a scene determination unit that detects a state of emergency braking,
wherein the area of interest setting unit fixes the area of interest and calculates the geometric correction amount in a case where a state of emergency braking is detected.
8. The image processing device according to claim 6 comprising a scene determination unit that detects a region for which disparity cannot be calculated,
wherein, in a case where a region for which disparity cannot be calculated is detected, the geometric correction amount calculation unit calculates the geometric correction amount with respect to a region except for the region for which disparity cannot be calculated in the area of interest.