US 12,236,561 B2
Mirror distortion correction apparatus, method, storage medium, and vehicle control apparatus
Masamitsu Tsuchiya, Wako (JP); and Gakuyo Fujimoto, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Mar. 24, 2022, as Appl. No. 17/703,937.
Claims priority of application No. 2021-061592 (JP), filed on Mar. 31, 2021.
Prior Publication US 2022/0318960 A1, Oct. 6, 2022
Int. Cl. G06T 5/80 (2024.01); G06T 7/70 (2017.01); G06V 20/56 (2022.01)
CPC G06T 5/80 (2024.01) [G06T 7/70 (2017.01); G06V 20/56 (2022.01); G06T 2207/30252 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An image processing apparatus configured to perform external recognition for driving assistance or automated driving of a vehicle based on a captured image obtained from a photographing apparatus configured to capture an image requiring distortion correction, the image processing apparatus comprising:
at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
move and set a partial region to be a target of distortion correction processing according to a rule, and to apply the distortion correction processing to the set partial region of the captured image to acquire a partial image corrected in distortion;
detect a mirror around the vehicle; and
change the rule to increase a frequency of performing the distortion correction for a partial region corresponding to a predetermined direction of the vehicle when a mirror is detected.
 
7. An image processing apparatus configured to perform external recognition for driving assistance or automated driving of a vehicle based on a captured image obtained from a photographing apparatus configured to capture an image requiring distortion correction, the image processing apparatus comprising:
at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
move and set a partial region to be a target of distortion correction processing according to a rule, and to apply the distortion correction processing to the set partial region of the captured image to acquire a partial image corrected in distortion;
detect a mirror around the vehicle; and
change the rule so that a partial region corresponding to a predetermined direction of the vehicle is preferentially set as a target of the distortion correction processing when a mirror is detected,
wherein a direction in which a further detected mirror reflects is detected, and
wherein the rule to increase a frequency of performing the distortion correction processing is changed for a partial region corresponding to a direction in which the detected mirror reflects.
 
10. An image processing apparatus configured to perform external recognition for driving assistance or automated driving of a vehicle based on a captured image obtained from a photographing apparatus configured to capture an image requiring distortion correction, the image processing apparatus comprising:
at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
move and set a partial region to be a target of distortion correction processing according to a rule, and to apply the distortion correction processing to the set partial region of the captured image to acquire a partial image corrected in distortion;
detect a mirror around the vehicle; and
change the rule so that a partial region corresponding to a predetermined direction of the vehicle is preferentially set as a target of the distortion correction processing when a mirror is detected,
wherein an unchanged rule is a rule indicating an order of selecting a partial region on a one-by-one basis from a plurality of partial regions, the respective partial regions set in advance and having different positions, and
wherein the rule is changed to select at least one of the plurality of partial regions corresponding to the predetermined direction more frequently than other ones of the plurality of partial regions.
 
11. An image processing apparatus configured to perform external recognition for driving assistance or automated driving of a vehicle based on a captured image obtained from a photographing apparatus configured to capture an image requiring distortion correction, the image processing apparatus comprising:
at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
move and set a partial region to be a target of distortion correction processing according to a rule, and to apply the distortion correction processing to the set partial region of the captured image to acquire a partial image corrected in distortion;
detect a mirror around the vehicle; and
change the rule so that a partial region corresponding to a predetermined direction of the vehicle is preferentially set as a target of the distortion correction processing when a mirror is detected,
wherein an order is maintained of selecting a partial region on a one-by-one basis from a plurality of partial regions, the respective partial regions set in advance and having different positions, and
the instructions, when executed by the at least one processor circuit further cause the at least one processor circuit to select at least one of the plurality of partial regions corresponding to the predetermined direction more frequently than other ones in a group of partial regions including one of the partial regions corresponding to the predetermined direction and different from any of the other ones of the plurality of partial regions.
 
13. A vehicle control apparatus comprising:
an image processing apparatus configured to perform external recognition for driving assistance or automated driving of a vehicle based on a captured image obtained from a photographing apparatus configured to capture an image requiring distortion correction, the image processing apparatus including at least one processor circuit with a memory comprising instructions that, when executed by the at least one processor circuit, cause the at least one processor circuit to at least:
move and set a partial region to be a target of distortion correction processing according to a rule, and to apply the distortion correction processing to the set partial region of the captured image to acquire a partial image corrected in distortion,
detect a mirror around the vehicle, and
change the rule to increase a frequency of performing the distortion correction for a partial region corresponding to a predetermined direction of the vehicle when a mirror is detected;
recognize a surrounding environment based on a partial image acquired and corrected in distortion; and
control for driving assistance or automated driving based on the surrounding environment recognized.