JP5986611B2 - Image processing apparatus, electronic apparatus, and image processing method - Google Patents

Description

  The present invention relates to a technique for displaying an image on a display device mounted on a vehicle.

  In general, there is an apparatus that enables monitoring of the periphery of a vehicle by acquiring images around the vehicle with a plurality of cameras mounted on the vehicle and displaying the images on a display device automatically or by a user operation. In addition, there is an apparatus that displays on the screen an image looking down directly above the vehicle as a virtual viewpoint, and provides a user with means for confirming safety around the entire vehicle. In addition, a first screen is displayed on the first screen, in which a plurality of cameras mounted on the vehicle are used to shoot from a viewpoint at a predetermined height, and the viewpoint position of the image captured by the camera is displayed together with an overall view of the vehicle. There is a technique for confirming safety around a vehicle on two screens, a second screen displaying each camera image, corresponding to the movement of the viewpoint position (see, for example, Patent Document 1).

JP 2008-219559 A

  However, in the conventional image display around the vehicle by the camera, it is necessary to confirm in which direction the image from each of the cameras corresponds to the vehicle, and the user's vehicle is displayed on the screen. Therefore, it is difficult for the user to grasp the positional relationship such as the distance between the vehicle and an obstacle existing around the vehicle.

  In addition, when displaying an image looking down on the vehicle as a virtual viewpoint on the screen, the user needs to check a wide range of the entire circumference of the vehicle at a time, and the amount of information is too much for the user. It was difficult to narrow down the point of what to do.

  Furthermore, in the technique disclosed in Patent Document 1, a screen showing the position of the viewpoint of the image captured by the camera together with the overall view of the vehicle, and a screen for displaying each camera image corresponding to the movement of the viewpoint position, Are displayed on different screens, and the information displayed on the two screens must be correlated by the user himself, which makes it difficult for the user to grasp the positional relationship between the vehicle and the obstacle. .

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a technique that allows a user to intuitively grasp the positional relationship between a vehicle and an obstacle around the vehicle.

In order to solve the above-mentioned problem, the invention of claim 1 includes image generation means for generating an image around the vehicle based on images acquired from a plurality of cameras that photograph the periphery of the vehicle, and the image generation means Generates an image for sequentially displaying a limited range around the vehicle from a viewpoint different from a viewpoint when the wide range including the entire periphery of the vehicle is viewed from above the vehicle. , Which is executed based on the power activation according to the ON state of the ACC that is the power source of the vehicle , continuously when the changeover switch for switching the camera image is not operated, and while the continuous display is continued When the changeover switch is operated, the continuous display is switched from the continuous display to a front mode display that displays an image of the front of the vehicle.

According to a second aspect of the present invention, in the image processing apparatus according to the first aspect, the continuous display is switched to display of a viewpoint image viewed from above the vehicle after the continuous display is completed.

According to a third aspect of the present invention, in the image processing apparatus according to the first aspect, the continuous display is switched to a display of a navigation image after the continuous display ends.

  According to the present invention, the user can intuitively execute the vehicle and the obstacle on one screen before the vehicle travels by executing the continuous display based on the power activation according to the ON state of the ACC that is the power source of the vehicle. Can be grasped.

FIG. 1 is a block diagram of an image display system. FIG. 2 is a diagram illustrating positions where a plurality of in-vehicle cameras are arranged in the vehicle. FIG. 3 is a diagram illustrating a method for generating a composite image viewed from an arbitrary virtual viewpoint. FIG. 4 is a diagram illustrating a flow of processing of the image processing unit. FIG. 5 is a diagram illustrating screen transition of the composite image in the first embodiment. FIG. 6 is a diagram illustrating a flow of display processing of the display unit. FIG. 7 is a diagram illustrating a screen transition of the composite image in the second embodiment. FIG. 8 is a diagram illustrating a first modification of the processing of the image processing unit. FIG. 9 is a diagram illustrating a second modification of the processing of the image processing unit. FIG. 10 is a block diagram of an image display system according to the third embodiment. FIG. 11 is a diagram illustrating a processing flow of the image processing unit according to the third embodiment. FIG. 12 is a diagram illustrating screen transition of the composite image according to the third embodiment. FIG. 13 is a diagram illustrating a first modification of the process of the image processing unit of the third embodiment. FIG. 14 is a diagram illustrating a second modification of the process of the image processing unit according to the third embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<1. First Embodiment>
<1-1. Configuration>
FIG. 1 is a block diagram of an image display system 100 according to the first embodiment. The image display system 100 is an electronic device that is mounted on a vehicle (in this embodiment, an automobile), and has a function of photographing the periphery of the vehicle to generate an image and displaying the image in the passenger compartment. A driver of a vehicle serving as a user who uses the image display system 100 can easily grasp the periphery of the vehicle.

  As shown in FIG. 1, the image display system 100 includes an image processing unit 10 and a photographing unit 5 that photographs the periphery of the vehicle. The image display system 100 includes a display unit 21 such as a liquid crystal display, and is installed on an instrument panel or the like of a vehicle so that the screen of the display unit 21 is visible from a driver. The photographing unit 5 is electrically connected to the image processing unit 10 and operates based on a signal from the image processing unit 10. The display unit 21 has a touch panel function and can accept various instructions from the user.

  The photographing unit 5 includes a front camera 51, a side camera 52, and a back camera 53 that are in-vehicle cameras. These in-vehicle cameras 51, 52, and 53 include a lens and an image sensor and electronically acquire an image.

  FIG. 2 is a diagram illustrating positions where the in-vehicle cameras 51, 52, 53 are arranged on the vehicle 9. As shown in FIG. 2, the front camera 51 is provided at the substantially left and right center of the front bumper 91 that is the front end of the vehicle 9, and its optical axis is directed in the straight traveling direction of the vehicle 9. Further, the side cameras 52 are provided on the left and right door mirrors 93, respectively, and their optical axes are directed to the outside of the vehicle 9 so as to be orthogonal to the straight traveling direction. The back camera 53 is provided at the substantially right and left center of the rear bumper 92 that is the rear end of the vehicle 9, and its optical axis is directed in the direction opposite to the straight traveling direction of the vehicle 9.

  As the lenses of these in-vehicle cameras 51, 52, and 53, fish-eye lenses are employed, and the in-vehicle cameras 51, 52, and 53 have an angle of view α of 180 degrees or more. For this reason, it is possible to shoot the entire periphery of the vehicle 9 by using the four in-vehicle cameras 51, 52, and 53.

  Since the vehicle-mounted cameras 51, 52, and 53 have an angle of view α of 180 degrees or more, an overlapping region β in which the shooting ranges of the cameras overlap is generated. In such an overlapping area, the same object is displayed in different directions. For this reason, in the image processing of such overlapping regions, the transmittance of overlapping portions of the images of both cameras may be adjusted (for example, 50% each other) and superimposed and displayed. Any range of images may be deleted.

  Returning to FIG. 1, the image processing unit 10 processes the captured image acquired by the capturing unit 5 and converts it into a display image, the CPU 1 that performs various arithmetic processes, the display unit 21, and the like. And a communication unit 42 that performs communication. The image generated by the image conversion unit 3 is output from the communication unit 42 to the display unit 21 and displayed.

  The image conversion unit 3 can generate a composite image viewed from a virtual viewpoint based on a plurality of captured images acquired by the plurality of vehicle-mounted cameras 51, 52, 53 of the imaging unit 5. The image conversion unit 3 is configured as a hardware circuit including a luminance adjustment unit 31, a multiplexing unit 32, and a viewpoint conversion unit 33 necessary for such image processing.

  The brightness adjusting unit 31 refers to the average brightness indicating the brightness of the entire captured image acquired by the capturing unit 5 and adjusts the gain of the captured image. Specifically, the gain adjustment value is decreased when the average luminance of the captured image is relatively high, and the gain adjustment value is increased when the average brightness is relatively low. Thereby, the brightness of the captured image is adjusted when the surrounding environment of the vehicle 9 is somewhat dark.

  The multiplexing unit 32 combines a plurality of captured images acquired by the plurality of in-vehicle cameras 51, 52, and 53 and gain-adjusted into one image to obtain a multiplexed image. The viewpoint conversion unit 33 generates a composite image viewed from an arbitrary virtual viewpoint around the vehicle 9 using the multiplexed image generated by the multiplexing unit 32. A method in which the viewpoint conversion unit 33 generates a composite image viewed from a virtual viewpoint will be described later.

  The CPU 1 functions as a control unit that comprehensively controls each unit of the image display system 100. Various control functions of the CPU 1 are realized by software by executing arithmetic processing according to a program stored in advance in a memory 11 or the like provided in the CPU 1.

  Further, the image processing unit 10 includes a signal input unit 41 for inputting signals from various devices provided in the vehicle 9. A signal from the outside of the image display system 100 is input to the CPU 1 via the signal input unit 41. Specifically, a vehicle ACC-ON / OFF signal is input from the vehicle power supply control device 84. The ACC is a switch for turning on / off a supply line for supplying power to accessories including the image display system 100 of the vehicle 9.

  In addition, signals indicating various information are input to the display unit 21 from the shift sensor 81, the vehicle speed sensor 82, the changeover switch 83, the vehicle power supply control device 84, and the like. A shift position such as “P”, “D”, “N”, “R” is input from the shift sensor 81. Further, the vehicle speed sensor 82 inputs the traveling speed (km / h) of the vehicle 9 at that time. A signal for switching the camera image displayed on the display of the display unit 21 is input from the switch 83. For example, switching is performed in the order of the front camera image, the side camera image, and the back camera image. A vehicle ACC-ON / OFF signal is input from the vehicle power supply control device 84. As will be described later, the vehicle ACC-ON / OFF signal from the vehicle power supply control device 84 is also input to the CPU 1 of the image processing unit 10 via the signal input unit 41.

<1-2. Image conversion processing>
Next, a method in which the viewpoint conversion unit 33 of the image conversion unit 3 generates a composite image viewed from an arbitrary virtual viewpoint based on a plurality of captured images obtained by the imaging unit 5 will be described. FIG. 3 is a diagram for explaining a method of generating a composite image viewed from an arbitrary virtual viewpoint.

  When the front camera 51, the side camera 52, and the back camera 53 of the photographing unit 5 are simultaneously photographed, four photographed images P1 to P4 respectively showing the front, left side, right side, and rear of the vehicle 9 are acquired. The That is, the four captured images P1 to P4 acquired by the imaging unit 5 include information indicating the entire periphery of the vehicle 9 at the time of shooting.

  The obtained four captured images P1 to P4 are multiplexed and then projected onto a virtual three-dimensional curved surface SP by the viewpoint conversion unit 33. The three-dimensional curved surface SP has, for example, a substantially hemispherical shape (a bowl shape), and a central portion (a bottom portion of the bowl) is determined as the position of the vehicle 9. The correspondence between the positions of the pixels included in the captured images P1 to P4 and the positions of the pixels of the solid curved surface SP is determined in advance. For this reason, the value of each pixel of the three-dimensional curved surface SP can be determined based on this correspondence and the value of each pixel included in the captured images P1 to P4. The correspondence between the positions of the pixels of the captured images P1 to P4 and the positions of the pixels of the three-dimensional curved surface SP is stored as table data in the memory 11 included in the CPU 1 of the image processing unit 10.

  On the other hand, virtual viewpoints such as VP1, VP2, VP5, and VP7 for the solid curved surface SP are set. Then, according to the set virtual viewpoints VP1, VP2, VP5, and VP7, a necessary area on the three-dimensional curved surface SP is cut out as an image, so that a composite image viewed from an arbitrary virtual viewpoint is generated. .

  For example, as shown in the figure, when a virtual viewpoint VP1 that is behind the vehicle 9 is set, a composite image CP1 that looks down on the vehicle 9 from behind the vehicle 9 is generated. Further, when the virtual viewpoint VP2 that is the left side surface of the vehicle 9 and the VP5 that is the right side surface are set, the composite image CP2 or CP5 that looks down on the vehicle 9 from the left side surface or the right side surface of the vehicle 9 is displayed. Will be generated. Further, when the virtual viewpoint VP7 directly above the vehicle 9 is set, a composite image CP7 that looks down from directly above the vehicle 9 is generated. The relationship between the virtual viewpoint and the necessary area in the three-dimensional curved surface SP is determined in advance, and is stored as table data in the memory 11 provided in the CPU 1 of the image processing unit 10.

  In the case of actually generating a composite image, it is not necessary to determine the values of all the pixels of the three-dimensional curved surface SP, and only the values of the pixels in the area necessary for the virtual viewpoint are based on the captured images P1 to P4. The processing speed can be improved. The image of the vehicle 9 shown in the composite image may be prepared in advance in the memory 11 as a bitmap or the like, and the image of the vehicle 9 in the direction corresponding to the virtual viewpoint may be superimposed on the generated composite image.

  It should be noted that the table data of the correspondence between the positions of the pixels of the captured images P1 to P4 and the positions of the pixels of the three-dimensional curved surface SP, table data that defines the relationship between the virtual viewpoint and the necessary area in the three-dimensional curved surface SP, Data stored in the memory 11 such as image bitmap data can be rewritten to other data. The memory 11 is provided inside the CPU 1, but is not limited thereto, and may be provided outside the CPU 1 or outside the image processing unit 10.

<1-3. Operation>
Next, with respect to the operation of the image processing unit 10 of the present embodiment, a diagram illustrating a processing flow of the image processing unit 10 in FIG. 4 and a diagram illustrating a screen transition of the composite image in the first embodiment in FIG. 5. The description will be given with reference.

  When the CPU 1 of the image processing unit 10 receives the ACC-ON signal from the vehicle power supply control device 84 via the signal input unit 41 (Yes in step S101), the communication unit 42 of the image processing unit 10 communicates with the display unit 21. Initial communication is started (step S102). Here, the initial communication refers to processing for confirming whether or not communication is possible between the image processing unit 10 and the display unit 21. If the CPU 1 of the image processing unit 10 has not received the ACC-ON signal from the vehicle power supply control device 84, the processing is terminated (No in step S101).

  If the initial communication between the image processing unit 10 and the display unit 21 is normally completed (step S103 is Yes), the image processing unit 10 reads data for performing a vehicle surrounding confirmation process from the memory 11 of the CPU 1 (step S104). . Examples of the vehicle periphery confirmation processing data include vehicle bitmap data, viewpoint movement data (viewpoint position and viewpoint direction data for each time), and the like.

  If the initial communication has not ended normally (No in step S103), the communication is again performed with the display unit 21. If communication is not possible even after a plurality of communication attempts, the process ends. Here, the case where the initial communication does not end normally is that the image processing unit 10 is not operating normally due to a failure or the like. In such a case, a warning that the system for displaying images around the vehicle has failed can be displayed on the display unit 21.

  After reading the vehicle periphery confirmation processing data from the memory 11, the image conversion unit 3 of the image processing unit 10 generates a composite image around the vehicle based on the read data (step S105). The generated composite image data is transmitted to the display unit 21 (step S106). The image processing unit 10 transmits data to the display unit 21 in order so that a plurality of synthesized images in which the positions of the created virtual viewpoints are changed in stages have continuity. As a result, the position of the virtual viewpoint is changed stepwise, and an image that goes around the vehicle 9 can be displayed on the display unit 21 in a state where the vehicle is looked down by continuous display.

  When transmission of the plurality of composite images to the display unit 21 is completed (Yes in step S107), a composite image immediately above (directly above) the approximate center of the vehicle 9 is generated (step S108), and the generated vehicle 9 is abbreviated. A composite image directly above (directly above) the center is transmitted to the display unit 21 (step S109).

  If transmission of a plurality of composite image data to the display unit 21 has not been completed (No in step S107), the process returns to the process of step S105 to perform a process of generating a composite image around the next vehicle.

  Generation and display of a plurality of composite images around the vehicle 9 and generation and display of a composite image immediately above (directly above) the approximate center of the vehicle 9 will be described with reference to FIG.

  A composite image CP1 in which the vehicle 9 is looked down from the rear of the vehicle 9, a composite image CP2 in which the vehicle 9 is looked down from the left side of the vehicle 9, and a composite image CP3 in which the vehicle 9 is looked down from the diagonally left side of the vehicle 9 The composite image CP4 as if the vehicle 9 was looked down from the front of the vehicle 9, the composite image CP5 as if the vehicle 9 was looked down from the right side of the vehicle 9, and the composite image as if the vehicle 9 was looked down from the diagonally right side of the vehicle 9 Based on images input from the cameras 51, 52, and 53 of the photographing unit 5, respectively, the image processing unit 10 determines that the composite image CP <b> 7 looks down on the vehicle 9 from just above (directly above) the center of the CP <b> 6 and vehicle 9. A composite image of CP1 to CP6 is generated in order so that the user makes one round of the periphery of the vehicle at the height of his / her own line of sight, and finally, the viewpoint directly above (directly above) the substantial center of the vehicle 9 over the entire vehicle periphery. Entanglement A composite image of the CP7 produces the following CP6, is continuously displayed on the display unit 21. As a result, a plurality of composite images are displayed on the display unit 21 so as to circulate around the vehicle while looking down at the vehicle, so that the user confirms the entire periphery of the vehicle from a viewpoint in front of the vehicle. Thus, the positional relationship between the vehicle and the obstacle can be grasped intuitively on one screen.

  In addition, both a plurality of composite images showing that the position of the virtual viewpoint moves continuously and turning around the vehicle and a composite image viewed from directly above (directly above) the center of the vehicle are displayed. Thus, the user can intuitively grasp the positional relationship between the vehicle and the obstacle on one screen. Furthermore, safety around the vehicle can be confirmed from a plurality of viewpoints of the periphery of the vehicle and directly above (directly above) the approximate center of the vehicle.

  Further, even if there is information such as an obstacle that the user overlooks in the surrounding image of the vehicle, the safety confirmation can be performed again by the image above the vehicle displayed with continuity after the surrounding image of the vehicle.

  In addition, it is not necessary for the user to check a wide range all around the vehicle at once, and an image of the entire vehicle in a wide range immediately above (directly above) the center of the vehicle is continuously displayed after an image of a limited range around the vehicle. Thus, the user can confirm the safety around the vehicle more reliably on one screen.

  Further, by generating a composite image viewed from a virtual viewpoint that sequentially moves around the vehicle around the position of the vehicle, the user can intuitively check obstacles around the entire vehicle on one screen.

  The composite image shown here is only an example, and the height and direction overlooking the vehicle of the composite image, the continuous display of the composite image is paused, the rotation speed of the continuous display is adjusted, and the rotation of the continuous display is reversed. The user can arbitrarily change the setting.

  Further, the selected portion can be enlarged and displayed by pausing the continuous display and selecting an arbitrary portion of the screen of the display unit by a user operation. Furthermore, in the present embodiment, a case has been described in which a composite image that displays the periphery of the vehicle is continuously displayed, and then a composite image immediately above (directly above) the vehicle's center is continuously displayed. However, the present invention is not limited to this order. The composite image around the vehicle may be displayed continuously after displaying the composite image directly above (directly above) the approximate center.

  Moreover, although this embodiment described the case where the circumference | surroundings are made 1 round from the position of the virtual viewpoint of the back of a vehicle, the starting position which changes an image is not specified and arbitrary positions may be sufficient. Furthermore, the number of times of circulation around the periphery is not limited to one, but may be any number of times such as two or more times or a half circle.

  Further, in the present embodiment, the start condition of the vehicle surrounding confirmation process is that the image processing unit 10 or the display unit 21 receives the ACC-ON signal from the vehicle power supply control device 84 as a start condition. The user can confirm the vicinity of the vehicle when the device is activated. Usually, since the image processing apparatus is activated in response to ACC-ON before the vehicle travels, there is an effect that the user can confirm the periphery of the vehicle before the vehicle travels. Such a vehicle surrounding confirmation process start condition may be not only the reception of the ACC-ON signal but also the pressing of the changeover switch 83 continuously for a predetermined time or more (for example, 3 seconds or more). Thereby, when a user wants to confirm the circumference of a vehicle automatically, it can check anytime.

  Further, when a plurality of composite images are continuously displayed, a completion button (not shown) is provided on the display unit 21 and the composite image is continuously displayed by pressing the completion button even during the continuous display. It is also possible to prevent the vehicle surroundings confirmation process from being started by ending or by previously providing a setting button (not shown) and pressing the ACC-ON or the changeover switch 83 for a predetermined time or more.

  In addition, when the vehicle surroundings confirmation process is executed and the composite image is continuously displayed, a signal based on a user operation such as switching the vehicle speed to “R” or pressing the switch SW is displayed. If input to the unit 21, the vehicle surroundings confirmation process is terminated as described in detail below, and a process corresponding to the user's operation is started.

  Next, the processing operation of the display unit 21 will be described with reference to the flowchart of the display process of the display unit 21 in FIG. When the display unit 21 receives the ACC-ON signal from the vehicle power supply control device 84 (Yes in step S201), the display unit 21 turns on the main body power supply of the display unit (step S202). In addition, a process is complete | finished when the ACC-ON signal from the vehicle power supply control apparatus 84 is not received (step S201 is No).

  Thereafter, initial communication is started with the image processing unit 10 that is also receiving the ACC-ON signal from the vehicle power supply control device 84 (step S203). Here, the initial communication refers to processing for confirming whether or not communication is possible between the image processing unit 10 and the display unit 21. When the initial communication is normally completed (step S204 is Yes), the composite image data of the vehicle surrounding confirmation process is received from the image processing unit 10 (step S205).

  If the initial communication has not ended normally (No in step S204), the process is ended if communication with the image processing unit 10 is performed again or communication is not possible even after a plurality of communication attempts. Here, the case where the initial communication does not end normally is that the image processing unit 10 is not operating normally due to a failure or the like. In such a case, a warning that the image display system around the vehicle has failed can be displayed on the display unit 21.

  While the display unit 21 is receiving composite image data from the image processing unit 10, the display unit 21 displays an opening screen (step S206). After the opening screen is displayed, a plurality of composite images around the vehicle received from the image processing unit 10 are continuously displayed as described above with reference to FIG. 5 (step S207). When a signal indicating that the shift position is switched to “R” is transmitted from the shift sensor 81 to the display unit 21 while a plurality of composite images are continuously displayed (Yes in step S208), the display unit 21 The screen that continuously displays the composite image is switched to the back mode image display screen that displays an image of the rear of the vehicle (step S209).

  When the shift position is not switched to “R” (No at Step S208) and the changeover switch 83 is pressed (Yes at Step S210), the display unit 21 continuously displays composite images around the vehicle. The screen is switched to a front mode image display screen that displays an image of the front of the vehicle. (Step S211).

  When the changeover switch 83 is not pressed (No in Step S210) and the vehicle speed is equal to or higher than a predetermined speed (for example, the vehicle speed is 12 km / h or higher) (Yes in Step S212), the composite image around the vehicle is continuously displayed. The displayed screen is switched to the screen for displaying the navigation image (step S215). When the vehicle speed is not equal to or higher than the predetermined speed (No at Step S212), it is determined whether or not the continuous display of the composite image around the vehicle has ended (Step S213), and the continuous display of the composite image has not ended. (No in step S213), a new composite image is transmitted from the image processing unit 10 to the display unit 21, and the display unit 21 makes the new composite image transmitted from the image processing unit 10 continuous with the previous composite image. It is displayed.

  When the continuous display of the composite image around the vehicle is completed (Yes in step S213), the composite image directly above (directly above) the substantial center of the vehicle 9 transmitted from the image processing unit 10 to the display unit 21 is displayed. (Step S214). As a result, a plurality of composite images are displayed on the display unit 21 so as to circulate around the vehicle while looking down at the vehicle, so that the user confirms the entire periphery of the vehicle from a viewpoint in front of the vehicle. Thus, the positional relationship between the vehicle and the obstacle can be grasped intuitively on one screen.

  After displaying the composite image directly above (directly above) the approximate center of the vehicle 9, the display unit 21 displays a screen for displaying the navigation image (step S215).

  By displaying both a plurality of composite images showing the direction of the virtual viewpoint moving continuously and turning around the vehicle and a composite image viewed from above the vehicle, the user can Intuitively grasp the positional relationship between the vehicle and the obstacle. Furthermore, safety around the vehicle can be confirmed from a plurality of viewpoints of the periphery of the vehicle and directly above (directly above) the approximate center of the vehicle.

  Even if there are information such as obstacles that the user overlooks in the surrounding image of the vehicle, it is safe again by an image directly above (directly above) the center of the vehicle displayed with continuity after the surrounding image of the vehicle. Confirmation can be made.

  Further, it is not necessary for the user to check a wide range of the entire periphery of the vehicle, and an image of the entire vehicle in a wide range immediately above (directly above) the approximate center of the vehicle is continuously displayed after an image of the limited range around the vehicle. By displaying the information, the user can confirm the safety around the vehicle more reliably on one screen.

  In addition, by continuously displaying an image of the entire vehicle in a wide range immediately above (directly above) the approximate center of the vehicle after an image of a limited range around the vehicle, the user can safely Confirmation can be performed more reliably.

  Also, by generating a composite image viewed from a virtual viewpoint that sequentially moves around the vehicle centering on the position of the vehicle, the user can intuitively check obstacles around the entire vehicle on one screen.

  The composite image shown here is only an example, and the height and direction overlooking the vehicle of the composite image, the continuous display of the composite image is paused, the rotation speed of the continuous display is adjusted, and the rotation of the continuous display is reversed. The user can arbitrarily change the setting.

  It is also possible to magnify and display the selected portion by pausing the continuous display and selecting an arbitrary portion of the screen of the display unit by a user operation. Furthermore, in the present embodiment, a case has been described in which the composite image displaying the vehicle periphery is continuously displayed, and then the composite image above the vehicle is continuously displayed. However, the present invention is not limited to this order. After the composite image is displayed, the composite image around the vehicle may be continuously displayed.

  Moreover, although this embodiment described the case where the circumference | surroundings are made 1 round from the position of the virtual viewpoint of the back of a vehicle, the starting position which changes an image is not specified and arbitrary positions may be sufficient. Furthermore, the number of times of circulation around the periphery is not limited to one, but may be any number of times such as two or more times or a half circle.

  Further, in the present embodiment, the start condition of the vehicle surrounding confirmation process is that the image processing unit 10 or the display unit 21 receives the ACC-ON signal from the vehicle power supply control device 84 as a start condition. The user can confirm the periphery of the vehicle when the apparatus is activated. Usually, since the image processing apparatus is activated in response to ACC-ON before the vehicle travels, there is an effect that the user can confirm the periphery of the vehicle before the vehicle travels. Such a vehicle surrounding confirmation process start condition may be not only the reception of the ACC-ON signal but also the pressing of the changeover switch 83 continuously for a predetermined time or more (for example, 3 seconds or more). Thereby, when a user wants to confirm the circumference of a vehicle automatically, it can check anytime.

Further, when a plurality of composite images are continuously displayed, a completion button (not shown) is provided on the display unit 21 and the composite image is continuously displayed by pressing the completion button even during the continuous display. It is also possible to provide a setting button (not shown) so that the vehicle surrounding confirmation process is not started by ACC-ON or by pressing the changeover switch 83 for a predetermined time or more in advance.
<2. Second Embodiment>
The basic configuration of the second embodiment is the same as that of the first embodiment. This embodiment will be described with reference to a diagram showing a screen transition of a composite image in the second embodiment of FIG. CP1a to CP7a in FIG. 7 differ from the continuous display of the composite image around the vehicle of CP1 to CP7 shown in FIG. 5 in the position of the viewpoint for generating the surrounding composite image. In the present embodiment, the virtual viewpoint is moved to the left side of the vehicle, the surrounding synthesized images CP1a to CP7a are generated by the image processing unit 10, and these synthesized images are continuously displayed on the display unit 21.

  CP1a is a composite image in which the vehicle 9 is looked down from a virtual viewpoint at a position moved to the left of the vehicle 9 behind the vehicle 9, and CP2a is a position moved to the left of the vehicle 9 on the left side of the vehicle 9 by a predetermined distance. A composite image in which the vehicle 9 is looked down from the virtual viewpoint, CP3a is a composite image in which the vehicle 9 is looked down from the virtual viewpoint at a position moved to the left of the vehicle 9 on the left oblique side of the vehicle 9, and CP4a is the vehicle 9 A composite image in which the vehicle 9 is looked down from a virtual viewpoint at a position moved to the left of the vehicle 9 in front of the vehicle, CP5a is a vehicle from a virtual viewpoint at a position moved to the left of the vehicle 9 on the right side of the vehicle 9 A composite image as if looking down at the vehicle 9, CP6a is a composite image as if looking down at the vehicle 9 from a virtual viewpoint at a position moved to the left of the vehicle 9 on the right side of the vehicle 9, and CP7a is just above the approximate center of the vehicle 9. From the virtual viewpoint just above) to move a predetermined distance to the left is a composite image as looked down vehicle 9.

  In this way, by moving a predetermined distance from the vehicle, the position of the virtual viewpoint of the continuous display of surrounding composite images is switched within a range that includes even part of the vehicle image, thereby selecting and displaying the part that the user wants to check it can. For example, if the user is seated in the driver's seat (right seat) and wants to check the left side with emphasis, as shown above, a composite image is generated around the viewpoint of the position moved a predetermined distance to the left from the vehicle. In addition, the composite image can be continuously displayed. The change of the position of the virtual viewpoint can be manually performed by the user, and the composite image can be continuously displayed around an arbitrary position that the user desires to confirm within the range including the vehicle image. As a result, the user can check the situation around the position where the user wants to check mainly, and can intuitively grasp the positional relationship between the vehicle and the obstacle on one screen.

  Also, a predetermined distance from a plurality of composite images shown to turn around a distance moved from the vehicle while the position of the virtual viewpoint changes continuously, and a virtual viewpoint just above (directly above) the center of the vehicle By displaying both of the moved composite images, the user can intuitively grasp the positional relationship between the vehicle and the obstacle on one screen. Furthermore, the safety around the vehicle can be confirmed from a plurality of virtual viewpoints including a virtual viewpoint around the vehicle moved a predetermined distance and a virtual viewpoint moved a predetermined distance directly above (directly above) the approximate center of the vehicle.

  Further, even if there is information such as an obstacle overlooked by the user in the surrounding image moved from the vehicle by a predetermined distance, the image is displayed immediately above the approximate center of the vehicle displayed continuously with the surrounding image moved by the predetermined distance from the vehicle ( Safety confirmation can be performed again using an image moved a predetermined distance from the virtual viewpoint directly above.

In addition, it is not necessary to check a wide range when the position moved from the vehicle by a predetermined distance is viewed from right above, but immediately above the center of the vehicle (directly above) after an image of a limited range around the vehicle moved from the vehicle by a predetermined distance. By continuously displaying a wide range of images moved by a predetermined distance from the virtual viewpoint, the user can confirm the safety around the vehicle more reliably on one screen.
<3. Image processing unit; modification>
<3-1. Modification 1>
Next, a modified example of the processing of the image processing unit 10 described with reference to FIG. 4 will be described.

  In FIG. 4, every time a plurality of composite images having different virtual viewpoint positions are generated, the image is transmitted to the display unit 21. However, in Modification 1, a plurality of composite images are generated and then transmitted to the display unit 21. I have to.

  FIG. 8 is a diagram illustrating an example of processing of the image processing unit 10 according to the first modification. The CPU 1 of the image processing unit 10 receives an ACC-ON signal that is an instruction signal for giving an instruction to output an image from the vehicle power supply control device 84 to the display unit 21 via the signal input unit 41 (Yes in step S301). ), The communication unit 42 of the image processing unit 10 starts initial communication with the display unit 21 (step S302). Here, the initial communication refers to processing for confirming whether or not communication is possible between the image processing unit 10 and the display unit 21. If the CPU 1 of the image processing unit 10 has not received the ACC-ON signal from the vehicle power supply control device 84, the process ends (No in step S301).

  If the initial communication between the image processing unit 10 and the display unit 21 is normally completed (step S303 is Yes), the CPU 1 reads data for performing a vehicle surrounding confirmation process from the memory 11 (step S304). Examples of the vehicle surrounding confirmation processing data include parameter data such as vehicle bitmap data and viewpoint movement data (viewpoint position and viewpoint direction data for each time).

  If the initial communication has not ended normally (No in step S303), the communication is again performed with the display unit 21. If communication is not possible even after a plurality of communication attempts, the process ends. Here, the case where the initial communication does not end normally is that the image processing unit 10 is not operating normally due to a failure or the like. In such a case, a warning that the system for displaying images around the vehicle has failed can be displayed on the display unit 21.

  Returning to step S304, after reading the vehicle periphery confirmation process data from the memory 11, the image conversion unit 3 of the image processing unit 10 generates a composite image of the vehicle periphery confirmation process based on the read data (step S305). ). Here, the composite image of the vehicle periphery confirmation process refers to a composite image around the vehicle 9 and a composite image directly above (directly above) the substantial center of the vehicle 9.

  The generated composite image data of the vehicle surrounding confirmation process is output to the display unit 21 (step S306). Note that the image processing unit 10 outputs data to the display unit 21 together in an order in which a plurality of synthesized images in which the positions of the created virtual viewpoints are changed in stages have continuity.

  As a result, the position of the virtual viewpoint is changed in stages, and an image that continuously circulates around the vehicle 9 can be displayed on the display unit 21 when viewed from the upper virtual viewpoint around the vehicle 9 in the vehicle direction. it can. In addition, by outputting a composite image around the vehicle 9 and a plurality of composite images immediately above (directly above) the approximate center of the vehicle 9 to the display unit 21 at the same timing, the image is changed stepwise and continuously. Of the displayed composite images, the display of the predetermined image can be skipped and the next image can be displayed or the previous image can be displayed again. The user confirms among the continuously displayed images. You can quickly display the image you want.

<3-2. Modification 2>
Further, in FIG. 4, every time a plurality of composite images having different virtual viewpoint positions are generated, the images are transmitted to the display unit 21. However, in Modification 2, a plurality of composite images generated in advance and stored in the memory 11 are used. Is transmitted to the display unit 21 in response to the ACC-ON signal.

  FIG. 9 is a diagram illustrating an example of processing of the image processing unit 10 according to the second modification. The CPU 1 of the image processing unit 10 receives an ACC-ON signal that is an instruction signal for giving an instruction to output an image from the vehicle power supply control device 84 to the display unit 21 via the signal input unit 41 (Yes in step S401). ), The communication unit 42 of the image processing unit 10 starts initial communication with the display unit 21 (step S402). Here, the initial communication refers to processing for confirming whether or not communication is possible between the image processing unit 10 and the display unit 21. When the CPU 1 of the image processing unit 10 has not received the ACC-ON signal from the vehicle power supply control device 84 (No in step S401), the process ends.

  If the initial communication between the image processing unit 10 and the display unit 21 is normally completed (step S403 is Yes), the CPU 1 reads the composite image data of the vehicle surrounding confirmation process from the memory 11 (step S404). The composite image data is generated by the image conversion process based on a plurality of photographed images photographed by a plurality of cameras of the photographing unit 5 that photographs the periphery of the vehicle 9 before receiving the ACC-ON signal. It is an image and is data stored in the memory 11 in advance.

  In step S404, the composite image data of the vehicle surrounding confirmation process stored in the memory 11 in advance is read from the memory 11, and then the composite image data of the vehicle surrounding confirmation process is output to the display unit 21 (step S405). ).

  As a result, the CPU 1 of the image processing unit 10 receives the ACC-ON signal that is an instruction signal for instructing the display unit 21 to output an image, and immediately outputs the combined data of the vehicle periphery confirmation processing to the display unit 21. The time for outputting the composite image data to the display unit 21 after receiving the instruction signal can be shortened.

If the initial communication has not ended normally (No in step S403), the communication is again performed with the display unit 21. If communication is not possible even after a plurality of communication attempts, the process ends. Here, the case where the initial communication does not end normally is that the image processing unit 10 is not operating normally due to a failure or the like. In such a case, a warning that the system for displaying images around the vehicle has failed can be displayed on the display unit 21.
<4. Third embodiment>
Next, a third embodiment will be described. In the first embodiment, the ACC-ON signal is mainly used as an instruction signal, and a plurality of synthesized images having different virtual viewpoint positions are transmitted in response to the instruction signal. On the other hand, in the third embodiment, a signal based on a user operation is used as an instruction signal, and a plurality of synthesized images are transmitted in response to the user operation.

<4-1. Configuration>
FIG. 10 is a block diagram of an image display system 101 according to the third embodiment. The basic configuration of the third embodiment is almost the same as that of the first embodiment. 10 is different from the configuration described in FIG. 1 in that an operation unit 61a and an operation unit 61b provided in the display unit 21 are provided.

  The operation unit 61a includes a touch switch formed of a transparent electrode on the display screen of the display unit 21, a fixed hard switch provided around the display unit 21, and the like. It is transmitted to the CPU 1 via 41. Upon receiving this instruction signal, the CPU 1 generates a composite image and outputs the composite image to the display unit 21 in the image processing unit 10 described later.

  As a specific example of the composite image, the composite image is generated based on a plurality of images acquired from a plurality of cameras (a front camera 51, a side camera 52, and a back camera 53) of the photographing unit 5 that photographs the periphery of the vehicle 9. An image in which the direction of the vehicle 9 is viewed from the upper virtual viewpoint around the vehicle 9 is given. Another specific example of the composite image is an image viewed from a virtual viewpoint directly above (directly above) the approximate center of the vehicle 9.

  The operation unit 61 b is a fixed switch provided integrally with the image display system 101. An instruction signal generated by a user operation on the operation unit 61 b is transmitted to the CPU 1 through the signal input unit 41. Upon receiving this instruction signal, the CPU 1 generates a composite image and outputs the composite image to the display unit 21 in the image processing unit 10 described later. The operation unit 61b may be a remote controller that can be remotely operated, or both a fixed switch and a remote controller may be used in combination. The other configuration of the image display system 101 in FIG. 10 is the same as the configuration described for the image display system 100 in FIG.

<4-2. Operation>
FIG. 11 is a diagram illustrating a processing flow of the image processing unit according to the third embodiment.

  When the CPU 1 of the image processing unit 10 receives an instruction signal from the operation unit 61a or the operation unit 61b by a user's operation (Yes in step S501), the CPU 1 stores data for performing vehicle surrounding confirmation processing from the memory 11. Read (step S502). Examples of the vehicle periphery confirmation processing data include vehicle bitmap data, viewpoint movement data (viewpoint position and viewpoint direction data for each time), and the like.

  If the CPU 1 of the image processing unit 10 has not received an instruction signal from either the operation unit 61a or the operation unit 61b (No in step S501), the process ends.

  After reading the vehicle periphery confirmation processing data from the memory 11, the image conversion unit 3 of the image processing unit 10 generates a composite image around the vehicle based on the read data (step S503). The generated composite image data is output to the display unit 21 (step S504). The image processing unit 10 outputs data to the display unit 21 in order so that a plurality of synthesized images in which the positions of the created virtual viewpoints are changed in stages have continuity. As a result, the position of the virtual viewpoint is changed in stages, and an image that continuously circulates around the vehicle 9 can be displayed on the display unit 21 when viewed from the upper virtual viewpoint around the vehicle 9 in the vehicle direction. it can.

  When the output of the plurality of composite images to the display unit 21 is completed (Yes in step S505), a composite image immediately above (directly above) the approximate center of the vehicle 9 is generated (step S506), and the generated vehicle 9 is abbreviated. The composite image directly above (directly above) the center is output to the display unit 21 (step S507).

  If output of a plurality of composite image data to the display unit 21 is not completed in step S505 (No in step S505), the process returns to step S503 to generate a composite image around the next vehicle 9. Perform the process.

  Next, the processing operation of the display unit 21 will be described with reference to the screen transition of the composite image of the third embodiment in FIG. When the display unit 21 receives the composite image data of the vehicle surrounding confirmation process from the image processing unit 10 (Yes in step S <b> 601), the display unit 21 continuously displays a plurality of composite images around the vehicle 9 received from the image processing unit 10. It is displayed (step S602).

  Note that if the composite image data of the vehicle surrounding confirmation process has not been received from the image processing unit 10 (No in step S601), the process ends.

  As a result of the processing in step S602, a signal indicating that the shift position is switched to “R” is transmitted from the shift sensor 81 to the display unit 21 while a plurality of composite images are being continuously displayed (step S603 is Yes). The unit 21 switches from the screen that continuously displays the composite image around the vehicle 9 to the back mode image display screen that displays an image of the rear of the vehicle 9 (step S604).

  When the shift position is not switched to “R” (No in Step S603) and the changeover switch 83 is pressed (Yes in Step S605), the display unit 21 continuously displays composite images around the vehicle 9. The displayed screen is switched to a front mode image display screen that displays an image obtained by photographing the front of the vehicle 9. (Step S606).

  If the changeover switch 83 is not pressed in step S605 (step S605 is No) and the vehicle speed is equal to or higher than a predetermined speed (for example, the vehicle speed is 12 km / h or higher) (step S607 is Yes), the surroundings of the vehicle 9 The composite image is switched from the continuously displayed screen to the screen displaying the navigation image (step S610).

  If the vehicle speed is not equal to or higher than the predetermined speed (No in Step S607), it is determined whether or not the continuous display of the composite image around the vehicle 9 is complete (Step S608), and the continuous display of the composite image is complete. If not (No in step S608), a new composite image is transmitted from the image processing unit 10 to the display unit 21, and the display unit 21 continues the new composite image transmitted from the image processing unit 10 with the previous composite image. Display with sex.

  When the continuous display of the composite image around the vehicle 9 is finished (Yes in step S608), the composite image immediately above (directly above) the approximate center of the vehicle 9 transmitted from the image processing unit 10 to the display unit 21 is displayed. It is displayed on the part 21 (step S609). As a result, a plurality of composite images are displayed on the display unit 21 so as to circulate around the vehicle while looking down at the vehicle, so that the user confirms the entire periphery of the vehicle from a viewpoint in front of the vehicle. Thus, the positional relationship between the vehicle and the obstacle can be grasped intuitively on one screen.

  In step S609, after displaying the composite image immediately above (directly above) the approximate center of the vehicle 9, the display unit 21 displays a screen for displaying the navigation image (step S610).

  In this way, by displaying both a plurality of composite images that are shown to turn around the vehicle and a composite image viewed from above the vehicle while the direction of the virtual viewpoint moves with continuity, the user can The positional relationship between the vehicle and the obstacle can be grasped intuitively on one screen. Furthermore, the safety of the surroundings of the vehicle 9 can be confirmed from a plurality of viewpoints of the surroundings of the vehicle 9 and directly above (directly above) the approximate center of the vehicle 9.

  Further, even if there is information such as an obstacle that the user overlooks in the surrounding image of the vehicle 9, an image immediately above (directly above) the approximate center of the vehicle 9 displayed with continuity after the surrounding image of the vehicle 9. By doing so, it is possible to confirm the safety again.

  Further, it is not necessary for the user to check the wide range of the entire periphery of the vehicle 9, and after the image of the limited range around the vehicle 9, the entire vehicle 9 in the wide range almost directly above (directly above) the center of the vehicle 9. By continuously displaying these images, the user can confirm the safety around the vehicle 9 more reliably on one screen.

  Further, the user can continuously display an image of the entire vehicle 9 in a wide range immediately above (directly above) the approximate center of the vehicle 9 after an image of a limited range around the vehicle 9, so that the user can display a single screen. Safety confirmation around the vehicle 9 can be performed more reliably.

  In addition, by generating a composite image viewed from a virtual viewpoint that sequentially moves around the vehicle 9 around the position of the vehicle 9, the user can intuitively check obstacles around the vehicle 9 on one screen. Can do.

  The composite image shown here is only an example, and the height and direction overlooking the vehicle of the composite image, the continuous display of the composite image is paused, the rotation speed of the continuous display is adjusted, and the rotation of the continuous display is reversed. The user can arbitrarily change the setting.

  It is also possible to magnify and display the selected portion by pausing the continuous display and selecting an arbitrary portion of the screen of the display unit by a user operation. Furthermore, in the present embodiment, a case has been described in which a composite image that displays the surroundings of the vehicle 9 is continuously displayed, and then a composite image above the vehicle 9 is continuously displayed. The composite image around the vehicle 9 may be continuously displayed after the composite image directly above (directly above) is displayed.

  Further, in the present embodiment, the case where the periphery of the vehicle 9 is circled once from the position of the virtual viewpoint behind the vehicle 9 is described, but the start position for transitioning the image is not specified and may be an arbitrary position. Furthermore, the number of times of circulation around the periphery is not limited to one, but may be any number of times such as two or more times or a half circle.

  In the present embodiment, the start condition of the surrounding confirmation process of the vehicle 9 is that the image processing unit 10 receives the instruction signal from the operation unit 61a or the operation unit 61b by the user's operation as a start condition. When the user wants to check the surroundings of the vehicle 9, the surroundings of the vehicle 9 can be checked at any time.

  Further, when a plurality of composite images are continuously displayed, a completion button (not shown) is provided on the display unit 21 and the composite image is continuously displayed by pressing the completion button even during the continuous display. It is also possible not to end the vehicle surroundings confirmation process by ending or pressing down the operation unit 61a or the operation unit 61b for a predetermined time or more.

<4-3. Modification 1>
Next, a modified example of the processing of the image processing unit of the third embodiment will be described.

  In the first modification, a plurality of synthesized images are generated and then transmitted to the display unit 21. FIG. 13 is a diagram illustrating an example of processing of the image processing unit in this case. When the CPU 1 of the image processing unit 10 receives an instruction signal from the operation unit 61a or the operation unit 61b by a user operation (Yes in step S701), the CPU 1 receives data for performing a vehicle surrounding confirmation process from the memory 11. Read (step S702). Examples of the vehicle surrounding confirmation processing data include parameter data such as vehicle bitmap data and viewpoint movement data (viewpoint position and viewpoint direction data for each time).

  After reading the vehicle periphery confirmation process data from the memory 11, the image conversion unit 3 of the image processing unit 10 generates a composite image of the vehicle periphery confirmation process based on the read data (step S703). Here, the composite image of the vehicle periphery confirmation process refers to a composite image around the vehicle 9 and a composite image directly above (directly above) the substantial center of the vehicle 9.

  In step S703, the generated composite image data of the vehicle periphery confirmation process is output to the display unit 21 (step S704). Note that the image processing unit 10 outputs data to the display unit 21 together in an order in which a plurality of synthesized images in which the positions of the created virtual viewpoints are changed in stages have continuity.

  As a result, the position of the virtual viewpoint is changed in stages, and an image that continuously circulates around the vehicle 9 is displayed on the display unit 21 when viewed from the upper virtual viewpoint around the vehicle 9 in the direction of the vehicle 9. be able to. In addition, by outputting a composite image around the vehicle 9 and a plurality of composite images immediately above (directly above) the approximate center of the vehicle 9 to the display unit 21 at the same timing, the image is changed stepwise and continuously. Of the displayed composite images, the display of the predetermined image can be skipped and the next image can be displayed or the previous image can be displayed again. The user confirms among the continuously displayed images. You can quickly display the image you want.

<4-4. Modification 2>
In the second modification, a plurality of synthesized images generated in advance and stored in the memory 11 are transmitted to the display unit 21 in response to the instruction signal. FIG. 14 is a diagram illustrating a second modification of the process of the image processing unit according to the third embodiment. When the CPU 1 of the image processing unit 10 receives an instruction signal from the operation unit 61a or the operation unit 61b by a user's operation (Yes in step S801), the image processing unit 10 performs a vehicle surrounding confirmation process from the memory 11 of the CPU 1. The composite image data is read out (step S802). The composite image data is based on a plurality of captured images captured by a plurality of cameras of the imaging unit 5 that captures the vicinity of the vehicle 9 before receiving an instruction signal from the operation unit 61a or the operation unit 61b. This is a composite image generated by the image conversion process and is data stored in the memory 11 in advance.

  Note that if the CPU 1 has not received an instruction signal from the operation unit 61a or the operation unit 61b by a user operation, the process ends (No in step S801).

  Returning to step S802, the composite image data of the vehicle surroundings confirmation process stored in the memory 11 in advance is read from the memory 11, and then the composite image data of the vehicle surroundings confirmation process is output to the display unit 21 (step S802). S803).

  Thereby, the CPU 1 of the image processing unit 10 receives the signal from the operation unit 61a or the operation unit 61b which is an instruction signal for giving an instruction to output an image to the display unit 21, and immediately performs the vehicle periphery confirmation process. The composite data can be output to the display unit 21, and the time for outputting the composite image data to the display unit 21 after receiving the instruction signal can be shortened.

DESCRIPTION OF SYMBOLS 100 Image display system 10 Image processing part 5 Image pick-up part 21 Display part 83 Changeover switch 84 Vehicle power supply control apparatus

Claims (3)

Image generating means for generating an image around the vehicle based on images acquired from a plurality of cameras that capture the periphery of the vehicle;
The image generation means generates an image for sequentially displaying a limited range around the vehicle in order from a viewpoint different from the viewpoint seen from above the vehicle over a wide range including the entire periphery of the vehicle,
The continuous display is executed based on the power activation according to the ON state of ACC that is the power source of the vehicle, and is continuously performed when the changeover switch for switching the camera image is not operated, and the continuous display is continued. When the changeover switch is operated during the operation, the continuous display is switched from the continuous display to a front mode display that displays an image of the front of the vehicle .
An image processing apparatus.
The image processing apparatus according to claim 1.
The continuous display is switched to display of a viewpoint image viewed from above the vehicle after the continuous display is completed ,
An image processing apparatus.
The image processing apparatus according to claim 1.
The continuous display is switched to display of a navigation image after the continuous display is completed ,
An image processing apparatus.

Images