PERIPHERY SUPERVISING DEVICE, AND PERIPHERY SUPERVISING METHOD

摘要

The present invention provides a surroundings monitoring apparatus and a surroundings monitoring method which can reduce, in a displayed image, distortions caused by camera position displacement in the case where the camera position displacement is present. The surroundings monitoring apparatus includes: a position displacement information obtainment unit (108) which obtains a degree of the position displacement in each camera and outputs it as camera position displacement information; a moving object state detection unit (109) which detects vehicle speed, a shift lever, and a steering angle of a vehicle and outputs them as a moving object state; a coordinate transformation parameter selection unit (110) which selects a coordinate transformation parameter according to the camera position displacement information; an image synthesis parameter selection unit (113) which selects a reference image synthesis parameter and a graphics parameter according to the moving object state; a coordinate transformation unit (112) which performs coordinate transformation on image coordinates of a captured image which are included in the reference image synthesis parameter using the coordinate transformation parameter and outputs the image coordinates as a transformed image synthesis parameter; and an image synthesis unit (104) which generates a synthetic image according to the transformed image synthesis parameter and outputs the generated synthetic image.