# US 10,769,760 B2 · Image processing apparatus and imaging apparatus that performs a distortion correction process

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 10,769,760 B2
- Document ID: US10769760B2
- Status: Granted
- Kind: B2
- Application number: 16/109,940
- Filed: 2018-08-23
- Published: 2019-02-28
- Granted: 2020-09-08
- Earliest claimed: 2017-08-28
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Yuki Kawana
- Web page: https://patentgrep.com/patent/US10769760B2

## CPC

- G06T 5/80: Geometric correction
- G06T 5/20: using local operators
- G06V 10/22: by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- H04N 23/81: for suppressing or minimising disturbance in the image signal generation
- H04N 25/61: the noise originating only from the lens unit, e.g. flare, shading, vignetting or "cos4"
- G06T 2207/20012: Locally adaptive
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

An image processing apparatus is provided with: an acquirer configured to obtain an image including a first area and a second area, wherein the first area has a distortion that increases with increasing distance from an image center and the second area is in a predetermined angle range with respect to a straight line passing through the image center and extending in a horizontal axis, and the second area has a smaller distortion than that of the first area; and a corrector configured to perform a distortion correction process on the first area and but not to perform the distortion correction process on the second area.

## Claims

### Claim 1

An image processing apparatus, which is mounted on a first movable body and which recognizes a second movable body moving around the first movable body from a photographed image of an area around the first movable body, comprising:
at least one processing circuit, programmed to:
obtain an image including a first area and a second area, wherein the first area has a distortion that increases with increasing distance from an image center and the second area is in a predetermined angle range with respect to a straight line passing through the image center and extending in a width direction which is a direction crossing a vertical direction of the first movable body, and the second area has a smaller distortion than that of the first area as the photographed image; and
perform a distortion correction process on the first area and but not to perform the distortion correction process on the second area.

### Claim 2 (depends on 1)

The image processing apparatus according to claim 1, wherein the at least one processing circuit is further programmed to separately perform an object recognition process on the first area on which the distortion correction process is performed, and the object recognition process on the second area in order to recognize the second movable body.

### Claim 3

An imaging apparatus, which is mounted on a first movable body and which outputs an image of an area around the first movable body to an image processing apparatus configured to recognize a second movable body moving around the first movable body, comprising:
a camera; and
a free-curved surface lens of the camera configured to form an image, wherein the image includes a first area having a distortion that increases with increasing distance from a center, and the image includes a second area that is in a predetermined angle range with respect to a straight line passing through the center and extending in a width direction which is a direction crossing a vertical direction the first movable body, and the second area has a smaller distortion than that of the first area.