# US 11,445,151 B2 · Vehicle electronic mirror system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,445,151 B2 - Document ID: US11445151B2 - Status: Granted - Kind: B2 - Application number: 17/159,153 - Filed: 2021-01-27 - Published: 2021-08-26 - Granted: 2022-09-13 - Earliest claimed: 2020-02-21 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Tsuyoshi Miyazawa - Web page: https://patentgrep.com/patent/US11445151B2 ## CPC - B60R 1/12: Mirror assemblies combined with other articles, e.g. clocks - B60R 1/04: mounted inside vehicle {(B60R1/025, B60R1/08 take precedence)} - B60R 1/26: to the rear of the vehicle - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - G06T 11/00: Two-dimensional [2D] image generation - 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 7/183: {for receiving images from a single remote source} - H04N 23/53: of electronic viewfinders, e.g. rotatable or detachable - B60R 2001/1253: {with cameras, video cameras or video screens} - B60R 2011/0003: {inside the vehicle} - B60R 2300/207: using multi-purpose displays, e.g. camera image and navigation or video on same display - B60R 2300/307: virtually distinguishing relevant parts of a scene from the background of the scene - B60R 2300/605: the adjustment being automatic - B60R 2300/8066: for monitoring rearward traffic - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A vehicle electronic mirror system including: a rearward image capture section configured to capture a rearward video image from a vehicle; a video image processing section including: a computation section configured to extract a feature point in the rearward video image and to compute an optical flow direction of the feature point, a determination section configured to determine whether or not the optical flow direction of the feature point is heading toward a point-at-infinity side in the rearward video image, and a processed video image generation section configured to generate a processed video image in which visibility of a region in the rearward video image corresponding to a feature point heading toward the point-at-infinity side is reduced relative to a visibility of other regions in the rearward video image; and a display device configured to display the processed video image toward an occupant. ## Claims ### Claim 1 A vehicle electronic mirror system comprising: a rearward camera that captures a rearward video image from a vehicle; a display that displays the rearward video image toward an occupant; and a processor coupled to the rearward camera and the display, the processor being configured to: extract a feature point in the rearward video image and compute an optical flow direction of the feature point, determine whether or not the optical flow direction of the feature point is heading toward a point-at-infinity side in the rearward video image, and generate a processed video image in which visibility of a region in the rearward video image corresponding to a feature point heading toward the point-at-infinity side is reduced relative to a visibility of other regions in the rearward video image; and display the processed video image toward the occupant. ### Claim 2 (depends on 1) The vehicle electronic mirror system of claim 1, wherein the processor is configured to: compute a movement amount per unit time of an optical flow of the feature point; determine whether or not the movement amount is a predetermined value or greater; and generate the processed video image, in which the visibility of a region in the rearward video image that corresponds to a feature point heading toward the point-at-infinity side, and that is determined to have a movement amount of the predetermined value or greater, is reduced relative to the visibility of other regions in the rearward video image. ### Claim 3 (depends on 1) The vehicle electronic mirror system of claim 1, wherein the processor is configured to display a region in the rearward video image corresponding to a feature point other than the feature point heading toward the point-at-infinity side with emphasis relative to other regions in the rearward video image. ### Claim 4 (depends on 1) The vehicle electronic mirror system of claim 1, wherein the processor is configured to make a spatial frequency of the region in the rearward video image corresponding to the feature point heading toward the point-at-infinity side a lower spatial frequency relative to the spatial frequency of the other regions in the rearward video image. ### Claim 5 (depends on 1) The vehicle electronic mirror system of claim 1, wherein the processor is configured to: acquire steering angle information of the vehicle; determine whether or not the optical flow direction of the feature point is consistent with steering of the vehicle based on the steering angle information; and generate the processed video image, in which visibility of a region in the rearward video image corresponding to the feature point having an optical flow direction consistent with the steering of the vehicle is reduced relative to visibility of other regions. ### Claim 6 (depends on 1) The vehicle electronic mirror system of claim 1, wherein, in response to operation of an operation section, the processor changes a degree of reduction by which the visibility of the region in the rearward video image corresponding to the feature point heading toward the point-at-infinity side is reduced relative to the visibility of the other regions.