Image processing device, image processing method and mobile body
There is provided an image processing device to which a visible light image and an infrared ray image are input, the visible light image having been obtained corresponding to irradiation of a visible light in a second direction, the infrared ray image having been obtained corresponding to irradiation of an infrared ray in a first direction, which is a direction having an irradiation range larger than an irradiation range of the second direction, and which synthesizes the infrared ray image and the visible light image to generate a color image.
1. An image processing device, comprising:
a central processing unit (CPU) configured to:
receive a visible light image and an infrared ray image, wherein
the infrared ray image corresponds to irradiation of an infrared ray in a first direction,
the visible light image corresponds to irradiation of a visible light in a second direction, and
the first direction has an irradiation range larger than the second direction;
separate the visible light image into a visible light luminance signal and a visible light color signal;
perform level adjustment of an infrared ray luminance signal of the infrared ray image based on the visible light luminance signal of the visible light image;
perform a filter process on the visible light color signal based on the infrared ray luminance signal, wherein noise of the visible light color signal is adjusted based on the filter process; and
synthesize the visible light color signal and the infrared ray luminance signal to generate a color image.
2. The image processing device according to claim 1 , wherein
the first direction includes an irradiation direction of a high beam in a vehicle.
3. The image processing device according to claim 1 , wherein
the second direction includes an irradiation direction of a low beam in a vehicle.
4. The image processing device according to claim 1 , wherein
the infrared ray luminance signal of the infrared ray image is utilized as guide information to generate the color image.
5. An image processing method, comprising:
in an image processing device:
receiving a visible light image and an infrared ray image, wherein
the infrared ray image corresponds to irradiation of an infrared ray in a first direction,
the visible light image corresponds to irradiation of a visible light in a second direction, and
the first direction has an irradiation range larger than the second direction;
separating the visible light image into a visible light luminance signal and a visible light color signal;
performing level adjustment of an infrared ray luminance signal of the infrared ray image based on the visible light luminance signal of the visible light image;
performing a filter process on the visible light color signal based on the infrared ray luminance signal, wherein noise of the visible light color signal is adjusted based on the filter process; and
synthesizing the visible light color signal and the infrared ray luminance signal to generate a color image.
6. A non-transitory computer-readable medium having stored thereon computer-executable instructions which, when executed by a computer, cause the computer to execute operations, the operations comprising:
receiving a visible light image and an infrared ray image, wherein
the infrared ray image corresponds to irradiation of an infrared ray in a first direction,
the visible light image corresponds to irradiation of a visible light in a second direction, and
the first direction has an irradiation range larger than the second direction;
separating the visible light image into a visible light luminance signal and a visible light color signal;
performing level adjustment of an infrared ray luminance signal of the infrared ray image based on the visible light luminance signal of the visible light image;
performing a filter process on the visible light color signal based on the infrared ray luminance signal, wherein noise of the visible light color signal is adjusted based on the filter process; and
synthesizing the visible light color signal and the infrared ray luminance signal to generate a color image.
7. A mobile body, comprising:
an image processing device that comprises:
a central processing unit (CPU) configured to:
receive a visible light image and an infrared ray image, wherein
the infrared ray image corresponds to irradiation of an infrared ray in a first direction,
the visible light image corresponds to irradiation of a visible light in a second direction, and
the first direction has an irradiation range larger the second direction;
separate the visible light image into a visible light luminance signal and a visible light color signal;
perform level adjustment of an infrared ray luminance signal of the infrared ray image based on the visible light luminance signal of the visible light image;
perform a filter process on the visible light color signal based on the infrared ray luminance signal, wherein noise of the visible light color signal is adjusted based on the filter process; and
synthesize the visible light color signal and the infrared ray luminance signal to generate a color image; and
an illumination device configured to irradiate the infrared ray in the first direction and the visible light in the second direction.