To provide an overhead image generation device for generating an overhead image obtained by reducing a data amount.SOLUTION: An overhead image generation part (155) includes a movement amount calculation part (155A) for calculating a movement distance of a vehicle (1), a linear overhead image generation part (155B) for generating an overhead image (200) obtained by converting a view point of a photographic image of a camera (25) into an overhead view point, and generating a linear overhead image (131) obtained by converting the shape of the generated overhead image (200) into a linear shape, a distance-based turning angle generation part (155C) for calculating distance-based turning angle information (133) showing a turning angle of the vehicle (1) of each movement distance by using a turning amount of the vehicle (1) shown by sensor data of a turning angle sensor (43) and the movement distance calculated by the movement distance calculation part (155A), and an overhead image reconstruction part (155D) for reconstructing the overhead image (200) by using the linear overhead image (131) and the distance-based turning angle information (133).SELECTED DRAWING: Figure 3
【課題】データ量を低減した俯瞰画像を生成する俯瞰画像生成装置を提供する。【解決手段】俯瞰画像生成装置(155)は、車両(1)の移動距離を算出する移動量算出部(155A)と、カメラ(25)の撮影画像の視点を俯瞰視点に変換した俯瞰画像(200)を生成し、生成した俯瞰画像(200)の形状を直線状に形状変換した直線状俯瞰画像(131)を生成する直線状俯瞰画像生成部(155B)と、舵角センサ(43)のセンサデータが示す車両(1)の旋回量と、移動量算出部(155A)が算出した移動距離とを用いて、移動距離ごとの車両(1)の旋回角度を示す距離別旋回角度情報(133)を算出する距離別旋回角度生成部(155C)と、直線状俯瞰画像(131)と、距離別旋回角度情報(133)とを用いて俯瞰画像(200)を再構成する俯瞰画像再構成部(155D)と、を備える。【選択図】図3
OVERHEAD IMAGE GENERATION DEVICE, OVERHEAD IMAGE GENERATION SYSTEM AND AUTOMATIC PARKING DEVICE
俯瞰画像生成装置、俯瞰画像生成システム及び自動駐車装置
2022-01-25
Patent
Electronic Resource
Japanese
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