# US 10,771,688 B2 · Image processing device, driving support system, and image processing method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,771,688 B2 - Document ID: US10771688B2 - Status: Granted - Kind: B2 - Application number: 16/129,014 - Filed: 2018-09-12 - Published: 2019-09-26 - Granted: 2020-09-08 - Earliest claimed: 2018-03-20 - Assignees: Kabushiki Kaisha Toshiba; Toshiba Electronic Devices & Storage Corporation - Applicants: Kabushiki Kaisha Toshiba; Toshiba Electronic Devices & Storage Corporation - Inventors: Yutaka Oki - Web page: https://patentgrep.com/patent/US10771688B2 ## CPC - G06T 5/80: Geometric correction - G06T 7/74: {involving reference images or patches} - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract According to one embodiment, an image processing device that processes a first image and a second image captured by a camera includes a first circuit, a second circuit and a third circuit. The first circuit determines a first position of a first reference line and a second position of a second reference line in at least one of the first image and the second image. The second circuit determines a image deformation reduction parameter based on a line width from a first reference point on the first reference line at the first position to a second reference point on the second reference line at the second position. The third circuit reduces image deformation in the first image or the second image based on the image deformation reduction parameter. ## Claims ### Claim 1 An image processing device performing an image processing for a first image and a second image captured by a camera, the image processing device comprising: a first circuit configured to determine a first position of a first reference line and a second position of a second reference line in at least one of the first image and the second image; a second circuit configured to determine a image deformation reduction parameter based on a line width from a first reference point on the first reference line at the first position to a second reference point on the second reference line at the second position; and a third circuit configured to reduce image deformation in the first image or the second image based on the image deformation reduction parameter, wherein the second circuit is configured to generate a plurality of image deformation reduction parameters based on a plurality of line width from a plurality of first reference points on the first reference line at the first position to a plurality of second reference points on the second reference line at the second position, respectively. ### Claim 2 (depends on 1) The image processing device of claim 1, wherein the third circuit is configured to minimize a cost function of the plurality of image deformation reduction parameters. ### Claim 3 (depends on 2) The image processing device according to claim 2, wherein the third circuit is configured to minimize the cost function to be a zero value. ### Claim 4 (depends on 1) The image processing device of claim 1, wherein the two reference lines correspond to parallel lines in an actual space. ### Claim 5 (depends on 1) The image processing device of claim 1, wherein the third circuit is configured to perform the image correction processing by a homography matrix. ### Claim 6 (depends on 2) The image processing device of claim 2, wherein the second circuit defines the cost function based on a first parallax of a first point on one reference line of the two reference lines and a first width between reference lines of a first straight line passing through the first point, and intersecting with the other reference line, and a second parallax of a second point on one reference line and a second width between reference lines of a second straight line parallel to the first straight line, passing through the second point, and intersecting with the other reference line. ### Claim 7 (depends on 6) The image processing device of claim 6, wherein the second circuit defines the cost function in which the cost is minimized when a first ratio of the first parallax and the first width and a second ratio of the second parallax and the second width become equal to each other. ### Claim 8 (depends on 2) The image processing device of claim 2, wherein the second circuit each calculates an intercept of a linear equation showing a relationship between the parallax and the width from each combination of two points of two or more reference points based on the respective parallaxes of the two or more reference points on one reference line and widths between the reference lines of the parallel lines passing through the respective reference points, and defines the cost function based on a value of each intercept. ### Claim 9 (depends on 7) The image processing device of claim 7, wherein the second circuit calculates an intercept of a linear equation showing a relationship between the parallax and the width from each combination of two points of two or more reference points based on the respective parallaxes of the two or more reference points on one reference line and widths between the reference lines of the parallel lines passing through the respective reference points, and defines the cost function based on a value of each intercept. ### Claim 10 (depends on 8) The image processing device of claim 8, wherein the cost function is a function obtained by multiplying a weighting value whose value is increased as the value of the intercept becomes smaller with a value based on each intercept. ### Claim 11 (depends on 1) The image processing device of claim 1, further comprising a fourth circuit that decides whether or not to perform the image correction processing based on the parameter of the image correction processing. ### Claim 12 (depends on 1) The image processing device of claim 1, further comprising a fifth circuit that performs a three-dimensional processing based on the first image and the second image after the image correction processing is performed for at least one of the first image and the second image. ### Claim 13 (depends on 11) The image processing device of claim 11, further comprising a fifth circuit that performs a three-dimensional processing based on the first image and the second image after the image correction processing is performed for at least one of the first image and the second image. ### Claim 14 (depends on 1) The image processing device of claim 1, further comprising a display monitor that displays image information based on at least one of the first image and the second image corrected by the image correction processing. ### Claim 15 (depends on 12) The image processing device of claim 12, further comprising a display monitor that displays image information based on at least one of the first image and the second image corrected by the image correction processing. ### Claim 16 (depends on 13) The image processing device of claim 13, further comprising a display monitor that displays image information based on at least one of the first image and the second image corrected by the image correction processing. ### Claim 17 (depends on 1) A driving support system comprising: the image processing device of claim 1; and a driving support device that supports driving of a vehicle based on information obtained by the image processing device.