A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a three-dimensional object assessment unit and a control unit. The image conversion unit converts images obtained by the image capturing unit to create bird's-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within a detection area based on differential waveform information or edge information. The stationary three-dimensional object assessment unit assesses whether the detected three-dimensional object is a shadow of a tree along a road traveled by the host vehicle. The three-dimensional object assessment unit assesses whether the three-dimensional object detected is a vehicle within the detection area. The control unit suppresses the assessment that the three-dimensional object is a vehicle when the detected three-dimensional object was determined to be a shadow of a tree along the road traveled by the host vehicle.

Three-dimensional object detection device and three-dimensional object detection method

A surround view system that can provide a surround view, e.g., a 360° view, from a vehicle by way of cameras positioned at various locations on the vehicle. The cameras can generate image data corresponding to the surround view, and a processing device can process the image data and generate the surround view on a simulated predetermined shape that can be viewed from a display. The simulated predetermined shape can have a flat bottom with a rectangular shape and a rim with a parabolic shape.

Vehicle Surround View System

A travel distance detection device includes: an image-capturing unit configured to capture an image; an alignment unit configured to align images in position of bird's-eye view image, the images captured at different times by the image-capturing unit; and a solid object detection unit configured to detect a solid object based on difference image data between data of the images captured at the different times and aligned by the alignment unit The solid object detection unit counts the number of pixels which each express a certain difference on the difference image data and which are arranged in a direction in which the solid object is inclined when the image of the predetermined region is converted into the bird's-eye view image, then produces a frequency distribution of the counted pixels to generate a difference waveform, and calculates a travel distance of the solid object based on time variation of the difference waveform

Travel distance detection device and travel distance detection method

PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring device capable of modifying a borderline on a bird's-eye-view image to a target the whole of which is not displayed on the bird's-eye-view image to enable the whole of the target to be displayed.SOLUTION: To a plurality of feature points that are extracted from an image and determined as an obstacle located in a common area of a bird's-eye-view image that is a visual field area in common to a plurality of imaging devices with each other, on the basis of a predicted trajectory and time change when assuming a constant lapse time by using relative motion information obtained at a three-dimensional measurement processing part 43, "whether the feature point is imaged or not imaged" is predicted for each camera that uses the common area as the visual field area in common with each other to obtain a prediction result. In addition, on the basis of the prediction result, with respect to the common area of the bird's-eye-view image, a priority is given to a partial bird's-eye-view image taken by a camera that can image in a wider range the obstacle 131 whose feature points are extracted, and a connection part or a borderline of the bird's-eye-view images is modified in a feed-forward manner to make the obstacle 131 be displayed in a wider range on the bird's-eye-view image.

Vehicle periphery monitoring device

PROBLEM TO BE SOLVED: To provide a moving distance detector and a moving distance detection method for improving precision when calculating a moving distance.SOLUTION: The moving distance detector 1 includes a camera 10 for picking up an image of a prescribed area; and a computer 30 for inputting data of a picked-up image of the camera 10. The computer 30 performs view transformation to an image in a prescribed area obtained by image pickup by the camera 10 into the state that a bird's-eye view of the image is obtained, and aligns a position of bird's-eye-view image data at different times of day when the view transformation is performed. The computer 30 detects a three-dimensional object on the basis of differential image data of the bird's-eye view whose position has been aligned. The computer 30 also counts the number of pixels showing prescribed difference on the differential image data and distributes frequencies along the direction in which the three-dimensional object falls forward to generate differential waveforms and calculate a moving distance of the three-dimensional object according to a temporal change of the differential waveforms.

Moving distance detector and moving distance detection method

PROBLEM TO BE SOLVED: To detect and notify an object existing in the peripheral air of a vehicle SOLUTION: This vehicle peripheral image processor is provided with a first image conversion part 13a for defining a horizontal face which is higher than the photographic position of a camera 2 as a reference face, and for creating a first bird's-eye view image projected on the reference face by converting the coordinates of image in a range higher than the photographic position of the camera 2; a second image conversion part 13b for creating a bird's-eye view image for display projected on the ground by converting the coordinates of the image; a featured point setting part 13c for setting a featured point in the bird's-eye view image; and a moving amount detection part 13d for detecting the moving amounts of a self-vehicle When the self-vehicle moves, a solid determination part 13e determines and notifies whether or not the featured point is set in a solid existing at a position higher than the height of the photographic position of the camera 2 from the moving amounts of the self-vehicle and the change of the featured point in the first bird's-eye view image COPYRIGHT: (C)2009,JPO&INPIT

Akatsuka Takeshi

Papers

Vehicle peripheral image processor and vehicle peripheral circumstance presentation method