# US 2021/0279959 A1 · Periphery monitoring apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0279959 A1 - Document ID: US20210279959A1 - Status: Published application - Kind: A1 - Application number: 16/338,886 - Filed: 2017-09-01 - Published: 2021-09-09 - Earliest claimed: 2016-10-04 - Assignees: Aisin Seiki Kabushiki Kaisha - Applicants: Aisin Seiki Kabushiki Kaisha - Inventors: Kazuya WATANABE - Web page: https://patentgrep.com/patent/US20210279959A1 ## CPC - B60R 1/28: with an adjustable field of view - B60R 1/002: {specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like (integrated in the windows B60R1/001; combined with rear-view mirrors B60R1/08)} - B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras - G06T 1/00: General purpose image data processing - G06T 3/00: Geometric image transformations in the plane of the image - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T 19/003: {Navigation within 3D models or images} - G06T 19/006: {Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00)} - G06V 20/586: {of parking space} - H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast - B60R 2300/602: with an adjustable viewpoint - B60R 2300/607: from a bird's eye viewpoint - B60R 2300/806: for aiding parking - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06T 2219/028: Multiple view windows (top-side-front-sagittal-orthogonal) - H04N 23/698: for achieving an enlarged field of view, e.g. panoramic image capture - 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 periphery monitoring apparatus includes: an image capturing unit configured to generate a captured image by capturing a periphery of a mobile body; and a controller configured to generate, from the captured image, a peripheral image representing a view from a virtual viewpoint that is set at a relative position to a current position of the mobile body depending on a movement of the mobile body, generate a display image in which a mobile body image representing a position of the mobile body is superimposed on the peripheral image, and display the mobile body image to fix a position of the mobile body image in the display image. ## Claims ### Claim 1 A periphery monitoring apparatus comprising: an image capturing unit configured to generate a captured image by capturing a periphery of a mobile body; and a controller configured to generate, from the captured image, a peripheral image representing a view from a virtual viewpoint that is set at a relative position to a current position of the mobile body depending on a movement of the mobile body, generate a display image in which a mobile body image representing a position of the mobile body is superimposed on the peripheral image, and display the mobile body image to fix a position of the mobile body image in the display image. ### Claim 2 (depends on 1) The periphery monitoring apparatus according to claim 1, wherein the controller generates, as the peripheral image, an image representing a view of the captured image from the virtual point, the captured image being projected onto a three-dimensional virtual projection plane including a first virtual plane and a second virtual plane intersecting with the first virtual plane. ### Claim 3 (depends on 1) The periphery monitoring apparatus according to claim 1, wherein the controller moves the virtual viewpoint in accordance with an input from a user. ### Claim 4 (depends on 1) The periphery monitoring apparatus according to claim 1, further comprising a storage unit configured to store a three-dimensional mobile body shape model that is a three-dimensional shape model of the mobile body, wherein the mobile body image is generated from the three-dimensional mobile body shape model stored in advance in the storage unit. ### Claim 5 A periphery monitoring method comprising: generating a captured image by capturing a periphery of a mobile body; generating, from the captured image, a peripheral image representing a view from a virtual viewpoint that is set at a relative position to a current position of the mobile body depending on a movement of the mobile body; generating a display image in which a mobile body image representing a position of the mobile body is superimposed on the peripheral image; and displaying the mobile body image to fix a position of the mobile body image in the display image. ### Claim 6 (depends on 5) The periphery monitoring method according to claim 5, wherein the generating a peripheral image includes generating, as the peripheral image, an image representing a view of the captured image from the virtual point, the captured image being projected onto a three-dimensional virtual projection plane including a first virtual plane and a second virtual plane intersecting with the first virtual plane. ### Claim 7 (depends on 5) The periphery monitoring method according to claim 5, further comprising moving the virtual viewpoint in accordance with an input from a user. ### Claim 8 (depends on 5) The periphery monitoring method according to claim 5, further comprising storing, in a memory, a three-dimensional mobile body shape model that is a three-dimensional shape model of the mobile body, wherein the mobile body image is generated from the three-dimensional mobile body shape model stored in advance in the memory. ### Claim 9 A non-transitory computer readable recording medium on which an executable program is recorded, the program comprising instructions which cause a computer to execute: generating a captured image by capturing a periphery of a mobile body (1); generating (S104), from the captured image, a peripheral image (72) representing a view from a virtual viewpoint (VV) that is set at a relative position (PT) to a current position of the mobile body depending on a movement of the mobile body; generating (S106) a display image (70) in which a mobile body image (74) representing a position of the mobile body is superimposed on the peripheral image (72); and displaying (S108) the mobile body image (74) to fix a position of the mobile body image in the display image (70).