| 摘要 |
PROBLEM TO BE SOLVED: To provide a processing device for an image around a vehicle and a recording medium capable of forming an image of a part outside of the visual field of a camera and reducing burden of computing. SOLUTION: In step 110, coordinate transformation is applied to an image picked up with a camera 1 to form a bird's eye view image. In step 120, a first bird's eye view image is stored in an image memory B, and a second bird's eye view image is stored in an image memory B. In step 130, motion vectors are calculated by a method for matching the divided areas using the first and second bird's eye view images. In step 150, it is determined whether the average value of the motion vectors is equal to or more than a decision value K. In step 160, the center of movement of the vehicle is calculated. In step 170, an angle θ of movement of the vehicle is calculated. In step 180, a previous combined bird's eye view image of an image memory C is moved to form a bird's eye view image after being moved. In step 200, the bird's eye view image after being moved is combined with the second bird's eye view image to form a combined bird's eye view image. |
