Image processing device, method, and program product to combine images overlapping 3D object closest to moving body
In an aspect, an image processing device includes a hardware processor configured to function as a determination unit and an image generation unit. The determination unit determines a boundary region in a region where spatially adjacent peripheral images of a plurality of peripheral images of a moving body overlap with each other, using position information including a plurality of detection points around the moving body and self-position information of the moving body. The image generation unit generates a combined image, using the spatially adjacent peripheral images, using the boundary region.
1 . An image processing device comprising
a hardware processor configured to function as:
a determination unit that sets a boundary angle between images to be combined in an image combining process to overlap a three-dimensional object closest to a moving body and determines, using the boundary angle, a boundary region in a region where spatially adjacent peripheral images of a plurality of peripheral images of the moving body overlap with each other, using position information including a plurality of detection points around the moving body and self-position information of the moving body; and
an image generation unit that generates a combined image, using the spatially adjacent peripheral images, using the boundary region.
2 . The image processing device according to claim 1 , wherein
the determination unit determines the boundary region, based on a width of the three-dimensional object.
3 . The image processing device according to claim 1 , wherein
the determination unit determines the boundary region including a plurality of boundary regions following the three-dimensional object, using the position information and the self-position information sequentially generated, and
the image generation unit sequentially generates the combined image using the spatially adjacent peripheral images, using the plurality of boundary regions following the three-dimensional object.
4 . The image processing device according to claim 1 , wherein
the hardware processor is configured to further function as a deformation unit that deforms a reference projection surface, using the position information and the self-position information, and
the image generation unit generates the combined image, using the deformed reference projection surface and the spatially adjacent peripheral images.
5 . The image processing device according to claim 1 , wherein
the plurality of detection points are detected using the plurality of peripheral images.
6 . The image processing device according to claim 1 , wherein
the plurality of detection points are detected by a detection unit mounted on the moving body.
7 . The image processing device according to claim 1 , wherein the boundary angle is set within a width of the three-dimensional object.
8 . An image processing method executed by a computer, comprising:
setting a boundary angle between images to be combined in an image combining process to overlap a three-dimensional object closest to a moving body;
determining, using the boundary angle, a boundary region of spatially adjacent peripheral images of a plurality of peripheral images of the moving body, using position information including a plurality of detection points around the moving body and self-position information of the moving body; and
generating a combined image, using the spatially adjacent peripheral images, using the boundary region.
9 . The image processing method according to claim 8 , wherein the boundary angle is set within a width of the three-dimensional object.
10 . A computer-readable recording medium having stored therein an image processing program for causing a computer to execute:
setting a boundary angle between images to be combined in an image combining process to overlap a three-dimensional object closest to a moving body;
determining, using the boundary angle, a boundary region in a region where spatially adjacent peripheral images of a plurality of peripheral images of the moving body overlap with each other, using position information including a plurality of detection points around the moving body and self-position information of the moving body; and
generating a combined image, using the spatially adjacent peripheral images, using the boundary region.
11 . The computer-readable recording medium according to claim 10 , wherein the boundary angle is set within a width of the three-dimensional object.