# US 9,521,400 B2 · Method and device for processing images from image data > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,521,400 B2 - Document ID: US9521400B2 - Status: Granted - Kind: B2 - Application number: 14/491,295 - Filed: 2014-09-19 - Published: 2015-01-01 - Granted: 2016-12-13 - Earliest claimed: 2012-03-21 - Assignees: Bayerische Motoren Werke Aktiengesellschaft - Applicants: Bayerische Motoren Werke Aktiengesellschaft - Inventors: Thomas Reicher; Guenter Bauer - Web page: https://patentgrep.com/patent/US9521400B2 ## CPC - H04N 13/275: from three-dimensional [3D] object models, e.g. computer-generated stereoscopic image signals - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - G06T 15/205: {Image-based rendering} - G06T 19/006: {Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00)} - B60R 2300/105: using multiple cameras - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Image data of respective images are recorded by multiple cameras that are arranged on a vehicle. A geometry of a three-dimensional environment model is provided, which has a level ground region that lies in a ground plane of the vehicle and which has a surface that has a ground surface of the level ground region and that encloses an ambient space, which also includes the vehicle. The image data of the respective images of the various cameras are projected on the surface of the three-dimensional environment model as environment model image data. Image data to be signaled of an image to be displayed from a view of a virtual camera on to the surface of the three-dimensional environment model are determined. This occurs, for a view that includes at least a portion of the vehicle, in the sense that a specified representative object of the vehicle is embedded in the three-dimensional environment model and at least a partial region of the representative object is transparently displayed such that the view through the partial region on to a respective partial surface region of the surface of the three-dimensional environment model is made possible. ## Claims ### Claim 1 A method for image processing of image data of respective images recorded by multiple cameras arranged on a vehicle, the method comprising the acts of: providing a geometry of a three-dimensional environment model having a level ground region lying in a ground plane of the vehicle, and having a surface that includes a ground surface of the level ground region enclosing an ambient space that includes the vehicle; projecting image data of the respective images of various cameras on the surface of the three-dimensional environment model as environment model image data; determining image data to be signaled of an image to be displayed from a view of a virtual camera onto the surface of the three-dimensional environment model, wherein the view includes at least a portion of the vehicle, wherein a specified representative object of the vehicle is embedded in the three-dimensional model and at least a partial region of the specified representative object is transparently displayed such that a view through the partial region onto a respective partial surface region of the surface of the three-dimensional environment model occurs. ### Claim 2 (depends on 1) The method according to claim 1, wherein the determining of the image data to be signaled for the view of the virtual camera occurs such that a contour of the representative object is recognizable. ### Claim 3 (depends on 1) The method according to claim 1, wherein the partial region of the specified representative object is displayed in a partially transparent manner. ### Claim 4 (depends on 1) The method according to claim 1, wherein the partial region of the specified representative object is superimposed with a wire grid model. ### Claim 5 (depends on 1) The method according to claim 1, wherein a position of the virtual camera is specified in a defined region about a regular face position of the vehicle driver. ### Claim 6 An image processing unit for image data of respective images recorded by multiple cameras arranged on a vehicle, comprising: a controller programmed to: provide a geometry of a three-dimensional environment model having a level ground region lying in a ground plane of the vehicle, and having a surface that includes a ground surface of the level ground region enclosing an ambient space that includes the vehicle; project image data of the respective images of various cameras on the surface of the three-dimensional environment model as environment model image data; determine image data to be signaled of an image to be displayed from a view of a virtual camera onto the surface of the three-dimensional environment model, wherein the view includes at least a portion of the vehicle, wherein a specified representative object of the vehicle is embedded in the three-dimensional model and at least a partial region of the specified representative object is transparently displayed such that a view through the partial region onto a respective partial surface region of the surface of the three-dimensional environment model occurs. ### Claim 7 (depends on 6) The image processing unit according to claim 6, wherein the determining of the image data to be signaled for the view of the virtual camera occurs such that a contour of the representative object is recognizable. ### Claim 8 (depends on 6) The image processing unit according to claim 6, wherein the partial region of the specified representative object is displayed in a partially transparent manner. ### Claim 9 (depends on 6) The image processing unit according to claim 6, wherein the partial region of the specified representative object is superimposed by a wire grid model. ### Claim 10 (depends on 6) The image processing unit according to claim 6, wherein a position of the virtual camera is specified in a defined region about a regular face position of the vehicle driver.