| 摘要 |
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 |
