Image processing apparatus and computer-readable recording medium

摘要

An image processing apparatus acquires camera images captured by cameras mounted in a vehicle, specifies a position of each pixel of an image lower than a horizontal line among the acquired camera images on a bottom surface of a virtual projection plane that is a hemisphere of an infinite circle with a planar bottom surface, specifies a position of each pixel of an image higher than the horizontal line on a hemisphere surface of the virtual projection plane, specifies a position of a pixel of each camera images specified on the virtual projection plane on a stereoscopic projection plane, specifies each position on an image frame corresponding to the position of the pixel of each camera images specified on the stereoscopic projection plane based on a predetermined point of view position and renders a value of a pixel of a corresponding camera images at each specified position.

主权项

1. An image processing apparatus, comprising:
a memory; and a processor coupled to the memory, wherein the processor executes a process comprising: acquiring camera images, respectively, captured by a plurality of cameras which are mounted in a vehicle and have partially overlapping subject regions; specifying a position of each pixel of an image lower than a horizontal line obtained from an installation position and an angle of a camera among the acquired camera images on a bottom surface of a virtual projection plane that is a hemisphere of an infinite circle with a planar bottom surface, and specifying a position of each pixel of an image higher than the horizontal line among the acquired camera images on a hemisphere surface of the virtual projection plane; specifying a position of a pixel of each camera images specified on the virtual projection plane on a stereoscopic projection plane having a stereoscopic shape having a position of the vehicle as a center, the stereoscopic projection plane approximating a road plane surface in an area around the vehicle and increasing a gradient as the distance from the vehicle increases; and specifying each position on an image frame corresponding to the position of the pixel of each camera images specified on the stereoscopic projection plane based on a predetermined point of view position and rendering a value of a pixel of a corresponding camera images at each specified position.