Image processing apparatus, image processing method, and recording medium
An image processing apparatus is disclosed. The image processing apparatus includes a processor connected to a memory. The processor functions as a deformation unit. The deformation unit serves to deform a reference projection screen that is a projection screen of a surrounding image of a moving object. The reference projection screen is deformed by using position information in which detection points around the moving object are accumulated and using self-location information of the moving object.
1. An image processing apparatus comprising:
a processor connected to a memory and configured to function as a deformation unit serving to deform a reference projection screen being a projection screen of a surrounding image of a moving object, the reference projection screen being deformed by using position information in which detection points around the moving object are accumulated and using self-location information of the moving object.
2. The image processing apparatus according to claim 1 , wherein the position information includes position information in which the detection points at different timings are accumulated.
3. The image processing apparatus according to claim 2 , wherein
the processor is further configured to function as:
an acquisition unit serving to acquire, from a detector device, position information of each of the detection points;
a detection point registration unit serving to register the position information acquired from the detector device into environmental map information; and
a localization unit serving to estimate the self-location information on the basis of the position information registered in the environmental map information and serving to register the self-location information into the environmental map information, and
the deformation unit serves to deform the reference projection screen on the basis of the environmental map information.
4. The image processing apparatus according to claim 3 , wherein the processor is further configured to function as a correction unit serving to correct position information of each of the detection points and the self-location information, which are registered in the environmental map information, the position information being corrected by using position information of each of the corresponding detection points that have been acquired at an acquisition timing later than an acquisition timing of the detection points.
5. The image processing apparatus according to claim 1 , wherein the deformation unit serves to deform a shape of the reference projection screen on the basis of the detection point closest to the moving object.
6. The image processing apparatus according to claim 5 , wherein the deformation unit serves to deform the reference projection screen into a curved surface shape passing through the detection point closest to the moving object.
7. The image processing apparatus according to claim 1 , wherein the deformation unit serves to deform the reference projection screen into a shape corresponding to an asymptotic curve of the detection points of each of portions of the reference projection screen.
8. The image processing apparatus according to claim 1 , wherein the processor is further configured to function as a projection transformation unit serves to transform a projected image into a virtual viewpoint image viewed in a direction of the deformed projection screen from a virtual viewpoint, the projected image being obtained by projecting the surrounding image onto a deformed projection screen being the deformed reference projection screen.
9. The image processing apparatus according to claim 1 , wherein the detection point is detected by a detector device installed in the moving object.
10. The image processing apparatus according to claim 1 , wherein the detection point is detected on the basis of the surrounding image.
11. An image processing method implemented by a computer, the image processing method comprising:
deforming a reference projection screen being a projection screen of a surrounding image of a moving object, the deforming being performed by using position information in which detection points around the moving object are accumulated and using self-location information of the moving object.
12. A non-transitory computer-readable recording medium on which a program executable by a computer is recorded, the program instructing the computer to:
deform a reference projection screen being a projection screen of a surrounding image of a moving object, the reference projection screen being deformed by using position information in which detection points around the moving object are accumulated and using self-location information of the moving object.