IMAGE PICKUP AND IMAGE CONVERSION DEVICE

摘要

PROBLEM TO BE SOLVED: To automatically detect the variation of a camera pitch angle from picked-up lane marks and automatically adjust a converted image. SOLUTION: The image pickup and image conversion device loaded in a vehicle and fixed on a point C of height (h) and capable of picking up the image of a road surface on the back of the vehicle from a camera and converting the picked up image into a bird's-eye image detects lane marks to be parallel lines and judges whether the lane marks are parallel lines or not. When the lane marks are not parallel lines, the variation dP of the camera pitch angle Pc is obtained from width Wi1 on a position most close to the vehicle in the bird's eye image, width Wi2 on a position most far from the vehicle and an angle P in the vertical direction of the camera in an area to be converted into the bird's-eye image and Pc+dP is substituted for the camera pitch angle to prepare a bird's-eye image again.