# US 12,225,319 B2 · Systems and method for image normalization > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,225,319 B2 - Document ID: US12225319B2 - Status: Granted - Kind: B2 - Application number: 17/425,028 - Filed: 2019-02-15 - Published: 2022-04-28 - Granted: 2025-02-11 - Earliest claimed: 2019-02-15 - Assignees: Toyota Jidosha Kabushiki Kaisha; Katholieke Universiteit Leuven - Applicants: Toyota Motor Europe; Katholieke Universiteit Leuven - Inventors: Kazuki Tamura; Hiroaki Shimizu; Marc Proesmans; Frank Verbiest; Luc Van Gool - Web page: https://patentgrep.com/patent/US12225319B2 ## CPC - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - H04N 5/2628: {Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation} - B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor - B60K 35/22: Display screens - B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver - B60K 35/60: Instruments characterised by their location or relative disposition in or on vehicles (arrangements of lighting devices on dashboards B60Q3/10) - B60W 60/001: {Planning or execution of driving tasks} - G06T 5/80: Geometric correction - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - B60K 35/23: Head-up displays [HUD] (optical aspects of head-up displays G02B27/01) - B60K 2360/21: using cameras - B60W 2420/403: Image sensing, e.g. optical camera - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A system for producing a virtual image view for a vehicle is provided. The system includes one or more image capture means configured to capture image data in proximity to the vehicle, the image data being defined at least in part by first viewpoint parameters, and to provide an identifier identifying the respective one or more image capture means, storage means configured to store a plurality of virtualization records containing conversion information related to a virtualized viewpoint and a plurality of image capture means, and processing means. The processing means are configured to receive the captured image data, convert the first viewpoint parameters of the captured image data into virtual viewpoint parameters based on the conversion information associated with a virtualization record stored by the storage means, to result in the virtual image view, wherein the virtualization record is identified at least based on the identifier, and execute at least one driver assistance and/or automated driving function based on the virtual image view. ## Claims ### Claim 1 A system for producing a virtual image view for a vehicle, comprising: one or more image capture means configured to capture image data in proximity to the vehicle, the image data being defined at least in part by first viewpoint parameters, and to provide an identifier identifying the respective one or more image capture means; storage means configured to store a plurality of virtualization records containing conversion information related to a virtualized viewpoint, a plurality of image capture means, and to a plurality of processing applications comprising at least two among an object detection and tracking application and a lane identifier application; and processing means configured to: receive the captured image data; identify, among the plurality of processing applications, a processing application expecting virtual viewpoint parameters based on the captured image data; select the processing application expecting virtual viewpoint parameters; convert the first viewpoint parameters of the captured image data into the virtual viewpoint parameters of the selected processing application based on the conversion information associated with a virtualization record stored by the storage means, to result in the virtual image view, wherein the virtualization record is identified at least based on the identifier and on the identified processing application; and execute at least one driver assistance and/or automated driving function based on the virtual image view. ### Claim 2 (depends on 1) The system for producing a virtual image view for a vehicle according to claim 1, wherein the conversion information comprises at least one of distortion compensation information, image rectification information, image refraction information, and rotational information. ### Claim 3 (depends on 1) The system for producing a virtual image view according to claim 1, wherein each virtualized viewpoint is defined by at least one of a resolution and a field of view; and at least one of a pinhole model, a fisheye model, a cylindrical model, a spherical model, and a rectilinear model. ### Claim 4 (depends on 1) The system for producing a virtual image view according to claim 1, wherein the storage means comprises means for identifying the processing application linked to a virtual image view. ### Claim 5 (depends on 4) The system for producing a virtual image view according to claim 4, wherein the storage means comprises a lookup table linking a camera identifier with conversion information for generation of the virtual image view required by the processing application. ### Claim 6 (depends on 1) The system for producing a virtual image view according to claim 1, wherein the conversion information includes calibration parameters for an identified image capture means, and wherein the processing means is configured to verify the calibration parameters for each of the one or more image capture means. ### Claim 7 (depends on 1) A vehicle comprising the system according to claim 1. ### Claim 8 A method for producing a virtual image view for a vehicle, comprising: receiving image data captured by at least one image capture means from surroundings of the vehicle, the image data being defined at least in part by first viewpoint parameters; receiving an identifier identifying one or more image capture means providing the image data; identifying, among a plurality of processing applications comprising at least two among an object detection and tracking application and a lane identifier application, a processing application expecting viewpoint parameters; selecting the processing application expecting viewpoint parameters; determining a virtualization record among the virtualization records containing conversion information related to a virtualized viewpoint, a plurality of image capture means, and the plurality of processing applications, wherein the virtualization record is determined at least based on the identifier and the identified processing application; converting the first viewpoint parameters of the captured image data into the virtual viewpoint parameters of the selected processing application based on the conversion information associated with the determined virtualization record and the identified processing application, to result in the virtual image view; and executing at least one driver assistance and/or automated driving function based on the virtual image view. ### Claim 9 (depends on 8) The method for producing a virtual image view for a vehicle according to claim 8, wherein the conversion information comprises at least one of distortion compensation information, image rectification information, image refraction information, and rotational information. ### Claim 10 (depends on 8) The method for producing a virtual image view according to claim 8, wherein each virtualized viewpoint is defined by at least one of a resolution and a field of view; and at least one of a pinhole model, a fisheye model, a cylindrical model, a spherical model, and a rectilinear model. ### Claim 11 (depends on 8) The method for producing a virtual image view according to claim 8, wherein the determining includes identifying the processing application linked to a virtual image view. ### Claim 12 (depends on 11) The method for producing a virtual image view according to claim 11, wherein the determining includes searching a lookup table, the lookup table including information linking a camera identifier with conversion information for generation of the virtual image view required by the processing application. ### Claim 13 (depends on 8) The method for producing a virtual image view according to claim 8, wherein the conversion information includes calibration parameters for an identified image capture means, and the method further comprising verifying the calibration parameters for each of the one or more image capture means.