Bird's-eye image generating apparatus

A bird's-eye image generating apparatus comprising:

• a first image receiving portion for receiving a first captured image as a first image taken by a camera at a first position, the camera mounted to a vehicle in order to capture a vehicle periphery;
• a second image receiving portion for receiving a second captured image as a second image taken by the camera at a second position where the vehicle is moved from the first position by a moving amount;
• a first projective transforming portion for executing a projective transformation to the first image so as to be a first transformed image that is an image seen from above in a vertical direction and for correcting the first transformed image so as to be a first corrected image at the second position;
• a second projective transforming portion for executing the projective transformation to the second image so as to be in a second transformed image that is an image seen from above in the vertical direction;
• a three-dimensional object range extracting portion for extracting a three-dimensional object range in which a three-dimensional object exists, on the basis of a difference between the first corrected image and the second transformed image, so as to be in a trapezoidal shape in which two unparallel sides are positioned so as to be crossed at an optical center when seen from above in the vertical direction;
• and
• a projective distortion correcting portion for correcting an image corresponding to the three-dimensional object range by compressing toward the optical center so as to be a second corrected image.