Vehicle periphery monitoring device
A vehicle periphery monitoring device includes a first bird's-eye view image generation section generating a first bird's-eye view image through a two-dimensional plane projective transformation based on a photographed image acquired by an in-vehicle camera module, a second bird's-eye view image generation section generating a second bird's-eye view image through a three-dimensional plane projective transformation based on the photographed image, and a displaying image generation section generating a first displaying image for monitor displaying from the first bird's-eye view image and a second displaying image for monitor displaying having a higher displaying magnification than the first displaying image, from a predetermined area of the second bird's-eye view image corresponding to a predetermined area of the first bird's-eye view image.
1. A vehicle periphery monitoring device comprising:
an in-vehicle camera module photographing a peripheral area of a vehicle;
a first bird's-eye view image generation section generating a first bird's-eye view image through a two-dimensional plane projective transformation based on a photographed image acquired by the in-vehicle camera module;
a second bird's-eye view image generation section generating a second bird's-eye view image through a three-dimensional plane projective transformation based on the photographed image, the three-dimensional plane projective transformation generating a virtual viewpoint image from above the vehicle through a projective transformation of the photographed image using a three-dimensional plane as a projection plane;
a displaying image generation section generating a first displaying image for monitor displaying from the first bird's-eye view image and a second displaying image for monitor displaying having a higher displaying magnification than the first displaying image, from a predetermined area of the second bird's-eye view image corresponding to a predetermined area of the first displaying image; and
wherein based on 3D object detection information received from a 3D object detection section detecting a 3D object in the vehicle periphery, the second displaying image including an area where the 3D object is present is displayed on the monitor.
2. The vehicle periphery monitoring device according to claim 1 , wherein the three-dimensional plane projective transformation employs a concave plane as a projective plane.
3. The vehicle periphery monitoring device according to claim 1 , wherein the first displaying image and the second displaying image are displayed on a same monitor screen.
4. The vehicle periphery monitoring device according to claim 1 , wherein the second displaying image including a vehicle periphery area designated by a vehicle passenger is displayed on the monitor.
5. The vehicle periphery monitoring device according to claim 1 , wherein the in-vehicle camera module comprises multiple in-vehicle cameras having an overlapping area where respective photographing areas thereof are overlapped with each other; the first bird's-eye view image and the second bird's-eye view image are generated by panorama-synthesis of the respective photographed images, with the overlapped areas thereof being blended with a predetermined width and a predetermined ratio.
6. The vehicle periphery monitoring device according to claim 5 , wherein the predetermined width and/or the predetermined ratio are(is) set different between the first bird's-eye view image and the second bird'-eye view image.
7. The vehicle periphery monitoring device according to claim 1 , wherein the second bird's-eye view image generation section generates the second bird's-eye view image by effecting a curved plane projective transformation on the first bird's-eye view image.
8. The vehicle periphery monitoring device according to claim 1 , wherein based on parking assistance information including information relating to parking drive pathway, a parking area and a parked vehicle acquired from a parking assistance module effecting a parking control for setting the parking area and generating the parking drive pathway for guiding the vehicle to the parking area, a timing for displaying the second displaying image is determined and at this timing, the second displaying image is displayed on the monitor.
9. A vehicle periphery monitoring device comprising:
an in-vehicle camera module photographing a peripheral area of a vehicle;
a first bird's-eye view image generation section generating a first bird's-eye view image through a two-dimensional plane projective transformation based on a photographed image acquired by the in-vehicle camera module;
a second bird's-eye view image generation section generating a second bird's-eye view through a three-dimensional plane projective transformation based on the photographed image, the three-dimensional plane projective transformation generating a virtual viewpoint image from above the vehicle through a projective transformation of the photographed image using a three-dimensional plane as a projection plane;
a displaying image generation section generating a first displaying image for monitor displaying from the first bird's-eye view image and a second displaying image for monitor displaying having a higher displaying magnification than the first displaying image, from a predetermined area of the second bird's-eye view image corresponding to a predetermined area of the first displaying image; and
wherein based on parking assistance information including information relating to parking drive pathway, a parking area and a parked vehicle acquired from a parking assistance module effecting a parking control for setting the parking area and generating the parking drive pathway for guiding the vehicle to the parking area, a timing for displaying the second displaying image is determined and at this timing, the second displaying image is displayed on the monitor.
10. The vehicle periphery monitoring device according to claim 9 , wherein the three-dimensional plane projective transformation employs a concave plane as a projective plane.
11. The vehicle periphery monitoring device according to claim 9 , wherein the first displaying image and the second displaying image are displayed on a same monitor screen.
12. The vehicle periphery monitoring device according to claim 9 , wherein based on 3D object detection information received from a 3D object detection section detecting a 3D object in the vehicle periphery, the second displaying image including an area where the 3D object is present is displayed on the monitor.
13. The vehicle periphery monitoring device according to claim 9 , wherein the second displaying image including a vehicle periphery area designated by a vehicle passenger is displayed on the monitor.
14. The vehicle periphery monitoring device according to claim 9 , wherein the in-vehicle camera module comprises multiple in-vehicle cameras having an overlapping area where respective photographing areas thereof are overlapped with each other; the first bird's-eye view image and the second bird's-eye view image are generated by panorama-synthesis of the respective photographed images, with the overlapped areas thereof being blended with a predetermined width and a predetermined ratio.
15. The vehicle periphery monitoring device according to claim 14 , wherein the predetermined width and/or the predetermined ratio are(is) set different between the first bird's-eye view image and the second bird'-eye view image.
16. The vehicle periphery monitoring device according to claim 9 , wherein the second bird's-eye view image generation section generates the second bird's-eye view image by effecting a curved plane projective transformation on the first bird's-eye view image.
17. The vehicle periphery monitoring device according to claim 1 , wherein the projective transformation is effected through mapping using a mapping table for a three-dimensional plane projective transformation.
18. The vehicle periphery monitoring device according to claim 9 , wherein the projective transformation is effected through mapping using a mapping table for a three-dimensional plane projective transformation.