PROBLEM TO BE SOLVED: To provide a "tractor vehicle surrounding image generation device and tractor vehicle surrounding image generation method, capable of making an image in the vicinity of a segmentation region boundary in an image around a vehicle behind a vehicle to which a vehicle to be hauled is connected, easy to watch.SOLUTION: The tractor vehicle surrounding image generation device comprises: a relative angle detection part 14 for detecting a relative angle between a tractor vehicle and a connection part when generating a vehicle surrounding image by performing viewpoint conversion from an image that is segmented from an image captured by an on-vehicle camera 1, into a bird's-eye-view image; and an image combination part 12 which performs image conversion while changing a segmentation region of the captured image in such a manner that a boundary of a region in which the connection part or the vehicle to be hauled is imaged and a boundary of the segmentation region of the captured image are matched on the basis of the detected relative angle. In a portion where the boundary of the region in which the connection part or the vehicle to be hauled is imaged and the boundary of the segmentation region of the captured image are matched, a discontinuous surface between neighboring segmentation regions is eliminated.SELECTED DRAWING: Figure 1

    【課題】被牽引車両が連結されている自車両後方の車両周囲画像における切出領域境界付近の画像を見やすくすることが可能な「牽引車両周囲画像生成装置および牽引車両周囲画像生成方法」を提供する。【解決手段】車載カメラ1による撮影画像から切り出した画像を鳥瞰画像に視点変換して車両周囲画像を生成する際に、牽引車両と連結部との相対角度を検出する相対角度検出部14と、検出した相対角度に基づいて、連結部または被牽引車両が写っている領域の境界と撮影画像の切出領域の境界とが一致するように、撮影画像の切出領域を変えて画像変換する画像合成部12とを備え、連結部または被牽引車両が写っている領域の境界と撮影画像の切出領域の境界とを一致させた部分において、隣接する切出領域間の不連続面がなくなるようにする。【選択図】図1


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    Title :

    TRACTOR VEHICLE SURROUNDING IMAGE GENERATION DEVICE AND TRACTOR VEHICLE SURROUNDING IMAGE GENERATION METHOD


    Additional title:

    牽引車両周囲画像生成装置および牽引車両周囲画像生成方法


    Contributors:

    Publication date :

    2016-06-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL






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