| 摘要 |
PROBLEM TO BE SOLVED: To provide a circumference display device capable of reducing calculation costs when bird's-eye view images around a self-propelled mobile object such as a vehicle are acquired. SOLUTION: The circumference display device is provided with: a three-dimensionalization calculation part 11 which calculates three-dimensional image data; a coordinate conversion part 12 which converts three-dimensional image data expressed in a stereo camera coordinate system into three-dimensional image data expressed in a vehicle coordinate system by adapting a three-dimensional conversion matrix expressing a position of a stereo camera in the vehicle coordinate system to the three-dimensional image data calculated by the three-dimensionalization calculation part 11; an integration part 5 which integrates the three-dimensional image data expressed in the vehicle coordinate system with data of a three-dimensional model of a self-vehicle stored in a storage part 7 to generate three-dimensional image data; and an image generation part 6 which generates the three-dimensional image data generated by the integration part 5 into bird's-eye view image data observed by a camera arranged at a virtual position. COPYRIGHT: (C)2011,JPO&INPIT
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