Image-processing system and image-processing method
A vehicle-periphery-image-providing system may include an image-capturing unit, a viewpoint-change unit, an image-composition unit, an object-decttion unit, a line-width-setting unit, and a line-selection unit. The image-capturing units, such as cameras, capture images outside a vehicle periphery and generate image-data items. The viewpoint-change unit generates a bird's-eye-view image for each image-data item based on the image-data item so that end portions of the real spaces corresponding to two adjacent bird's-eye-view images overlap each other. The image-composition unit generates a bird's-eye-view-composite image by combining the bird's-eye-view images according to a predetermined layout. The object-detection unit detects an object existing in the real space corresponding to a portion where the bird's-eye-view images of the bird's-eye-composite image are joined to each other. The line-width-setting unit sets the width of the line image corresponding to the joining portion. The line-selection unit adds a line image having the set width to an overlap portion of one of the bird's-eye-view images.
1. An image-processing system processing image data obtained by capturing images outside a periphery of a vehicle, the image-processing system comprising:
a plurality of image-capturing units that is affixed to the vehicle and that generates image-data items by capturing images outside the periphery of the vehicle;
a bird's-eye-view-image-drawing unit configured to generate a bird's-eye-view image by determining a viewpoint above the vehicle for each of the image-data items generated by the image-capturing units based on the image-data item so that end portions of real spaces corresponding to two adjacent bird's-eye-view images overlap each other;
an image-composition unit configured to generate a bird's-eye-view-composite image by combining the bird's-eye-view images with one another according to a predetermined layout;
a posture-change-detection unit configured to detect an amount of change in a posture of the vehicle;
a border-width-setting unit configured to determine a border image based on the overlap portions included in a portion where the bird's-eye-view images included in the bird's-eye-view-composite image are joined to each other and to change a width of the border image based on the detected vehicle-posture-change amount; and
an image-addition unit configured to draw a border-and-bird's-eye-view-composite image in the joining portion by superimposing a border image having a width set by the border-width-setting unit on the overlap portion of one of the bird's-eye-view images.
2. The image-processing system of claim 1 , wherein, when drawing the overlap portions of the bird's-eye-view images, the image-composition unit determines a bird's-eye-view image corresponding to the image-data item generated by the image-capturing unit having a narrow view angle of the image-capturing units generating the image-data items corresponding to the bird's-eye-view images to be the other bird's-eye-view image, and generates the overlap portion of the other bird's-eye-view image with priority.
3. The image-processing system of claim 1 , further comprising:
a frame memory configured to store image data corresponding to an image for display,
wherein the image-composition unit stores image data corresponding to each of the bird's-eye-view images generated by the image-drawing unit in a predetermined storage area determined for each of the bird's-eye-view images, the predetermined storage area being provided in the frame memory, and
wherein the image-addition unit stores image data corresponding to the border image in a predetermined storage area determined for each of the border images, the predetermined storage area being provided in the frame memory.
4. The image-processing system of claim 3 , further comprising:
a mapping memory configured to store data on a mapping table showing an association between a position of each of pixels of the bird's-eye-view image generated by the image-drawing unit and a storage area provided in the frame memory,
wherein the image-composition unit stores image data corresponding to each of the pixels corresponding to the bird's-eye-view image generated by the image-drawing unit in a predetermined storage area provided in the frame memory based on the mapping table.
5. The image-processing system of claim 1 , wherein the plurality of image-capturing units includes:
a first image-capturing unit capturing an image of an area ahead of the vehicle;
a second image-capturing unit capturing an image of an area on the right of the vehicle;
a third image-capturing unit capturing an image of an area in the rear of the vehicle; and
a fourth image-capturing unit capturing an image of an area on the left of the vehicle.
6. An image-processing method provided to process image data obtained by capturing images outside a periphery of a vehicle, the image-processing method comprising the steps of:
capturing images outside the periphery of the vehicle using a plurality of image-capturing units affixed to the vehicle and generating image-data items;
generating a bird's-eye-view image by determining a viewpoint above the vehicle for each of the image-data items generated at the image-capturing step based on the image-data item so that end portions of real spaces corresponding to two adjacent bird's-eye-view images overlap each other;
generating a bird's-eye-view-composite image by combining the bird's-eye-view images with one another according to a predetermined layout;
detecting an amount of change in a posture of the vehicle;
generating a border image based on the overlap portions included in a portion where the bird's-eye-view images included in the bird's-eye-view-composite image are joined to each other and changing a width of the border image based on the detected vehicle-posture-change amount; and
generating a border-and-bird's-eye-view-composite image in the joining portion by superimposing a border image having a width set at the border-width-setting step on the overlap portion of one of the bird's-eye-view images.