JP7294886B2 - Image processing device, imaging device, and moving object - Google Patents

Description

The present invention relates to an image processing device, an imaging device, and a moving body.

Various technologies have been developed for assisting the driving of a driver of a moving object such as a vehicle. For example, there has been proposed a parking assistance device that captures an image of an object behind the vehicle when the vehicle is backing up and displays an image of the object in which an expected travel trajectory is superimposed (see Patent Document 1).

JP-A-11-334470

However, with the parking assistance device described in Patent Document 1, it is difficult to provide driving assistance for various purposes because it only displays the expected travel locus.

Accordingly, an object of the present disclosure, which has been made in view of the problems of the conventional technology as described above, is to provide an image processing device, an imaging device, and a moving body that perform driving assistance for various purposes.

In order to solve the above-mentioned problems, the image processing device according to the first aspect includes:
an acquisition unit that acquires steering angle information from the moving object and an image signal from the imaging unit;
An index indicating a position of a specific point at a specific position with respect to the imaging unit for each different movement distance in movement of the moving body at a steering angle corresponding to the steering angle information is provided in the image signal. a control for drawing on a corresponding image;
The indicator is an arc with the specific point before movement as a reference.
In addition, an image processing device according to another aspect is
an acquisition unit that acquires steering angle information from the moving object and an image signal from the imaging unit;
An index indicating a position of a specific point at a specific position with respect to the imaging unit for each different movement distance in movement of the moving body at a steering angle corresponding to the steering angle information is provided in the image signal. a control for drawing on a corresponding image;
The indicator is an object that extends in a direction inclined from the vertical direction of the moving object according to the steering angle.

In addition, the imaging device according to the second aspect is
an imaging unit that is fixed at a predetermined position on a moving body in a predetermined posture and that generates an image signal by imaging;
Steering angle information is acquired from the moving body, and a specific point at a specific position with respect to the imaging unit moves at a steering angle corresponding to the steering angle information for each different movement distance when the moving body moves. a control unit that draws an index indicating the position of the image signal on the image corresponding to the image signal,
The indicator is an arc with the specific point before movement as a reference.
In addition, an imaging device according to another aspect is
an imaging unit that is fixed at a predetermined position on a moving body in a predetermined posture and that generates an image signal by imaging;
Steering angle information is acquired from the moving body, and a specific point at a specific position with respect to the imaging unit moves at a steering angle corresponding to the steering angle information for each different movement distance when the moving body moves. a control unit that draws an index indicating the position of the image signal on the image corresponding to the image signal,
The indicator is an object that extends in a direction inclined from the vertical direction of the moving object according to the steering angle.

In addition, the moving object according to the third aspect is
a main body; an imaging unit fixed at a predetermined position on the main body in a predetermined posture and configured to generate an image signal by imaging;
An index indicating the position of a specific point at a specific position with respect to the imaging unit for each different movement distance in the movement of the main body at the steering angle of the main body is displayed on the image corresponding to the image signal. a control unit for drawing;
The indicator is an arc with the specific point before movement as a reference.
In addition, a moving object from another viewpoint is
the main body;
an imaging unit that is fixed at a predetermined position on the main body in a predetermined posture and that generates an image signal by imaging;
An index indicating the position of a specific point at a specific position with respect to the imaging unit for each different movement distance in the movement of the main body at the steering angle of the main body is displayed on the image corresponding to the image signal. a control unit for drawing;
The index is an object extending in a direction inclined from the vertical direction of the main body according to the steering angle.

According to the image processing device, the imaging device, and the moving object according to the present disclosure configured as described above, driving assistance can be performed for various purposes.

1 is an external view conceptually illustrating the position of an imaging device including an image processing device according to the present embodiment on a moving object; FIG. 2 is a block diagram showing a schematic configuration of the imaging device of FIG. 1; FIG. FIG. 2 is an example of an image in which indices are drawn and created by the control unit in FIG. 1; FIG. FIG. 2 is another example of an image in which indices are drawn and created by the control unit in FIG. 1; FIG. FIG. 2 is another example of an image in which indices are drawn and created by the control unit in FIG. 1; FIG. FIG. 2 is another example of an image in which indices are drawn and created by the control unit in FIG. 1; FIG. FIG. 2 is another example of an image in which indices are drawn and created by the control unit in FIG. 1; FIG. FIG. 2 is another example of an image in which indices are drawn and created by the control unit in FIG. 1; FIG. FIG. 2 is another example of an image in which indices are drawn and created by the control unit in FIG. 1; FIG. FIG. 2 is another example of an image in which indices are drawn and created by the control unit in FIG. 1; FIG. FIG. 2 is another example of an image in which indices are drawn and created by the control unit in FIG. 1; FIG. 2 is an example of an image in which an abstract image of a predetermined object at a specific point is drawn, which is created by the control unit in FIG. 1; FIG. 2 is a flowchart for explaining index drawing processing executed by a control unit in FIG. 1; FIG.

An embodiment of an image processing apparatus to which the present disclosure is applied will be described below with reference to the drawings.

As shown in FIG. 1 , an imaging device 10 including an image processing device according to an embodiment of the present disclosure is mounted on a mobile object 11 . The imaging device 10 is attached so as to be able to image the periphery of the moving body 11 . The imaging device 10 outputs the captured image as an image signal to, for example, a display 12 provided at a position visible to the driver. The display 12 displays an image corresponding to the acquired image signal.

The mobile object 11 may include, for example, a vehicle, a ship, an aircraft, and the like having an automatic driving function. Vehicles may include, for example, automobiles, industrial vehicles, railroad vehicles, utility vehicles, and fixed-wing aircraft that travel on runways, and the like. Motor vehicles may include, for example, cars, trucks, buses, motorcycles, trolleybuses, and the like. Industrial vehicles may include, for example, industrial vehicles for agriculture and construction, and the like. Industrial vehicles may include, for example, forklifts, golf carts, and the like. Industrial vehicles for agriculture may include, for example, tractors, cultivators, transplanters, binders, combines, lawn mowers, and the like. Industrial vehicles for construction may include, for example, bulldozers, scrapers, excavators, mobile cranes, tippers, road rollers, and the like. Vehicles may include those that are powered by humans. Vehicle classification is not limited to the above example. For example, automobiles may include road-drivable industrial vehicles. Multiple classifications may contain the same vehicle. Vessels may include, for example, marine jets, boats, tankers, and the like. Aircraft may include, for example, fixed-wing and rotary-wing aircraft.

The moving object 11 can index objects 13 to be indexed, such as trailers and campers. The moving body 11 has a hitch 14 at the rear widthwise central position. The object to be indexed 13 has a connector 15 at the front widthwise central position. The moving body 11 and the object to be indexed 13 can be detachably connected via the hitch 14 and the connecting tool 15 .

As shown in FIG. 2 , the imaging device 10 includes an imaging section 16 and an image processing device 17 .

The imaging unit 16 images the surroundings of the moving body 11 to generate an image signal and outputs the image signal to the image processing device 17 . The imaging unit 16 is fixed in a predetermined posture at a predetermined position of the main body 18 of the moving body 11 shown in FIG. The imaging unit 16 is positioned, for example, at the rear of the moving body 11, at the center of the main body 18 in the width direction, and near the roof of the main body 18 in the vertical direction. The imaging unit 16 is fixed so that its optical axis is perpendicular to the width direction of the main body 18 and has a predetermined inclination angle. The imaging unit 16 generates an image signal by imaging, for example, the rear periphery of the moving body 11 .

As shown in FIG. 2 , the image processing device 17 includes an acquisition section 19 , a storage section 20 , an output section 21 and a control section 22 .

The acquisition unit 19 acquires various information, signals, and commands from devices external to the image processing device 17 . The acquisition unit 19 acquires steering angle information from the mobile object 11 . The steering angle information corresponds to the steering angle of the moving body 11 . The mobile body 11 outputs steering angle information in an external device such as an ECU (Electronic Control Unit) mounted on the mobile body 11, for example. The acquisition unit 19 acquires image signals from the imaging unit 16 .

The storage unit 20 includes arbitrary storage devices such as RAM (Random Access Memory) and ROM (Read Only Memory). The storage unit 20 stores various programs that cause the control unit 22 to function and various information that the control unit 22 uses.

The storage unit 20 may store a coordinate conversion formula or a conversion table from the three-dimensional moving body coordinate system to the two-dimensional image coordinate system. The moving body coordinate system may have the longitudinal direction, the width direction, and the vertical direction of the moving body 11 as axes. The image coordinate system may have vertical and horizontal axes in the image captured by the imaging unit 16 . A conversion formula or a conversion table may be created based on a predetermined position and a predetermined posture for fixing the imaging section 16 to the main body 18 .

Further, the storage unit 20 may store a specific position of the specific point with the imaging unit 16 as a reference. The specific position may be coordinates in the moving body coordinate system. The specific point may be the center or upper end of the hitch 14, the center position of the moving body 11 in the width direction, or the like. The specific point may be the lowest position in the vertical direction of the moving body 11 when no load is loaded or loaded with a load of a predetermined weight, in other words, a position higher than the level of the road surface. The specific point is not limited to one point, and may be a plurality of points. The multiple specific points may be three or more. The three or more specific points are positions overlapping the hitch 14 in the front-rear direction of the mobile body 11, and the frame connecting the three or more specific points includes the center or upper end of the hitch 14, and It may be defined so as to be positioned in the center of the frame. The plurality of specific points may be a pair of two specific points that sandwich the center in the width direction of the moving body 11 and are equidistant from the center. In a pair of two specific points, the width of the two specific points may be substantially equal to the width of the object 13 to be indexed that is assumed to be connected to the moving object 11 . Also, the plurality of specific points may be a plurality of pairs of specific points having different distances from the center. In a plurality of pairs, the widths of the two specific points forming each pair may be substantially equal to the widths of various objects 13 to be indexed that are assumed to be connected to the moving object 11 . The plurality of pairs may be three or more, and the intervals between the specific points included in each pair arranged on one side from the center in the width direction of the moving body 11 may be equal intervals at least in part.

The output unit 21 outputs an image subjected to image processing by the control unit 22, which will be described later, to the display 12 as an image signal.

Control unit 22 includes one or more processors and memory. The processor may include a general-purpose processor that loads a specific program to execute a specific function, and a dedicated processor that specializes in specific processing. A dedicated processor may include an Application Specific Integrated Circuit (ASIC). The processor may include a programmable logic device (PLD). A PLD may include an FPGA (Field-Programmable Gate Array). The control unit 22 may be either SoC (System-on-a-Chip) in which one or more processors cooperate, or SiP (System In a Package).

When acquiring the steering angle information, the control unit 22 stores it in the storage unit 20 . When storing the steering angle information in the storage unit 20, the control unit 22 may associate the steering angle information with the time information so that it can be distinguished from the latest steering angle information among the plurality of steering angle information. Alternatively, the control unit 22 may overwrite previously stored steering angle information so that only the latest steering angle information is stored when storing in the storage unit 20 .

The control unit 22 draws, on the image corresponding to the image signal, an index indicating the position of the specific point for each different moving distance in the movement of the moving body 11 at the steering angle corresponding to the latest steering angle information. . In order to draw the index, the control unit 22 may calculate the position to draw the index in the image coordinate system, as described below.

In calculating the position for drawing the index in the image coordinate system, the control unit 22 may first calculate the position to which the specific point is moved from the current position in the moving body coordinate system according to the steering angle and the movement distance. . The moving distance may be predetermined such as 1 m, 2 m, 3 m from the rear end of the main body 18, or may be input as a plurality of distances by the driver's operation. Next, the control unit 22 may calculate the position by converting the position to which the specific point is moved in the moving body coordinate system into a position in the image coordinate system. The control unit 22 may use a conversion formula or a conversion table stored in the storage unit 20 to convert the position in the moving body coordinate system to the position in the image coordinate system.

Alternatively, the control unit 22 may use a correspondence table in which the steering angle and the movement distance are associated with the position of the specific point in the image coordinate system in calculating the position for drawing the index in the image coordinate system. For example, the control unit 22 may calculate the position in the image coordinate system by reading out the position in the image coordinate system corresponding to the steering angle and movement distance corresponding to the acquired steering angle information in the correspondence table.

After calculating the position in the image coordinate system, the control unit 22 draws the index at the calculated position in the image coordinate system on the image corresponding to the acquired image information. The control unit 22 may color the index with a different color for each movement distance. The control unit 22 may, for example, color red, yellow, and blue as the moving distance increases. The control unit 22 may draw the index transparently or opaquely.

The index 23 in the image IM may be an arc based on the position of the specific point before movement, in other words, the current position, as shown in FIG. Furthermore, the length of the arc indicating the index 23 may indicate the displacement range of the specific point corresponding to the steerable range of the moving body 11 . Alternatively, as shown in FIG. 4 , the index 23 may be an object whose end is located at the specific point after movement and whose at least part extends in the vertical direction of the moving object 11 . The indicator 23, which is an object at least partially extending in the vertical direction, may have a frustum shape with a specific point as the apex, as shown in FIG. Alternatively, as shown in FIG. 6, the indicator 23 may be an object whose end is located at the specific point after movement and which extends in an inclined direction according to the steering angle. Alternatively, as shown in FIG. 7, the index 23 may be an object obtained by extending a specific point (see symbol “sp”) after movement toward both ends in the width direction of the moving body 11 . Alternatively, as shown in FIG. 8, the index 23 may be projected onto the road surface at both ends in the width direction of the moving body 11 at the same positions as the specific points after the movement in the front-rear direction of the moving body 11, and the specified points. It may be an object connecting points.

Alternatively, the indicator 23 may have a frame shape surrounded by three or more specific points after movement. For example, as shown in FIG. 9, the frame-shaped index 23 may be a rectangular frame having four specific points as vertices. The center of the frame-shaped indicator 23 may indicate, for example, the position of the hitch 14 at a defined travel distance. The frame-shaped index 23 may be drawn so as to become smaller as the movement distance increases.

As described above, in a configuration in which a plurality of specific points are defined, the control section 22 may draw a plurality of indicators 23 respectively corresponding to the plurality of specific points. As shown in FIG. 10, two indicators 23 out of the plurality of indicators 23 constitute an indicator pair 24 corresponding to a specific point equidistant from the center in the width direction of the moving body 11. good. In a configuration in which a plurality of index pairs 24 are drawn, the distance from the center of the moving object 11 to a specific point may differ for each index pair 24 for the same movement distance. In other words, index pairs 24 at different distance intervals may be drawn. In a configuration in which three or more indicator pairs 24 are drawn, at least some of the indicators 23 arranged on one side from the center may be evenly spaced for the same moving distance. It should be noted that each index 23 included in the index pair 24 may be an object having the specific point after movement positioned at the end and having at least a portion thereof extending in the vertical direction of the moving body 11 . Alternatively, each index 23 included in the index pair 24 may have a frustum shape with a specific point as the apex. Alternatively, each index 23 included in the index pair 24 may be an object having a specific point positioned at the end after movement and extending in a direction that is inclined according to the steering angle. 3 to 10, the index 23 is drawn with a position higher than the lowest position of the moving body 11, such as the hitch 14, as a specific point.

The control unit 22 may draw the first movement trajectory 25 and the distance auxiliary line 26 along with the index 23 on the image IM. The first movement trajectory 25 is a trajectory on the road surface through which both ends of the moving body 11 in the width direction pass when the moving body 11 moves at a steering angle corresponding to the acquired steering angle information. The distance extension line 26 is a line indicating a position on the road surface at a predetermined distance from one end of the mobile body 11 in the front-rear direction. The distance extension line 26 may correspond to the movement distance indicated by the index 23 . Alternatively, as illustrated in FIGS. 7 and 8, along with the index 23, the first movement trajectory 25 may be drawn on the image IM.

As illustrated in FIG. 7, the control unit 22 may draw the second trajectory 27 along with the first trajectory 25 on the image IM. The second movement trajectory 27 passes through both ends in the width direction of the moving body 11 at the same position as the specific point in the height direction of the moving body 11 when the moving body 11 moves at a steering angle corresponding to the acquired steering angle information. It is the trajectory. In other words, the second movement trajectory 27 is an image obtained by projecting the first movement trajectory 25 at the same position as the specific point in the height direction of the moving body 11 . The second trajectory 27 may be drawn in a manner different from that of the first trajectory 25, such as a thicker line, a different color, or the like.

As illustrated in FIG. 7, the control unit 22 may draw the projection image 23p of the index 23 on the road surface together with the index 23 in the image IM. The projected image 23p may be drawn in a manner different from that of the index 23, such as a line thinner than the index 23. FIG.

As described above, the index 23 is drawn with a position higher than the lowest position of the moving body 11 as a specific point, but as shown in FIG. An index 23 whose position is a specific point may be drawn in the image IM. In the image IM, the index 23 may be a straight line extending in the vertical direction of the moving body 11 with the specific point after movement positioned at the center. The image IM may include the movement trajectory 25 and the distance auxiliary line 26 along with the index 23 .

Further, instead of drawing the index 23 on the image IM, the control unit 22 may draw an enhanced image of a predetermined object located at the current specific point on the image IM so as to be emphasized. For example, as shown in FIG. 12, the outer edge of the hitch 14 may be drawn as an enhanced abstract image in the image IM. Note that whether the actual hitch 14 is hidden from the imaging unit 16 by the main body 18 of the moving body 11 or the like, or is exposed, the emphasized abstract image of the hitch 14 is superimposed. may be drawn.

The control unit 22 outputs the image IM in which at least the index 23 is drawn to the display 12 as an image signal.

Next, index drawing processing executed by the control unit 22 in this embodiment will be described using the flowchart of FIG. 13 . The index drawing process may be started each time an image signal of one frame is acquired from the imaging unit 16 .

In step S<b>100 , control unit 22 reads the latest steering angle information from storage unit 20 . After reading, the process proceeds to step S101.

In step S101, the control unit 22 calculates the position of the specific point in the image coordinate system when the moving body 11 is moved at a steering angle corresponding to the steering angle information acquired in step S100 and at a predetermined moving distance. After the calculation, the process proceeds to step S102.

In step S102, the control unit 22 draws the index 23 at the position of the specific point calculated in step S101 of the image IM corresponding to the image information acquired before the start of the image drawing process. After drawing, the process proceeds to step S103.

At step S103, the control unit 22 outputs the image IM obtained by drawing the index 23 at step S102 to the display 12 as an image signal. After the output, the image rendering process ends.

The image processing device 17 of the present embodiment configured as described above draws on the image IM the index 23 indicating the position of the specific point for each different movement distance in the movement of the moving body 11 at the steering angle. . With such a configuration, the image processing device 17 can draw the expected passage position of the specific point at the current steering angle as the index 23 . Therefore, when the driver moves the moving body 11 so as to connect the moving body 11 on which it is mounted and the object 13 to be indexed, the image processing device 17 moves the moving body 11 to a connectable position. An image IM depicting the index 23 can be generated, which can serve as a guide for . Therefore, the image processing device 17 can facilitate the operator's maneuvering to align various objects, such as the object 13 to be indexed, within the moving range of the moving object 11 toward a specific position. In this way, the image processing device 17 can assist driving for various purposes.

Further, in the image processing device 17 of the present embodiment, the index 23 is arc-shaped with the specific point as a reference, and the length of the arc indicates the displacement range of the specific point corresponding to the steerable range of the moving body 11 . With such a configuration, the image processing device 17 can generate an image IM for visually confirming whether or not the connector 15 of the object 13 to be indexed is included within the range of the arc in the direction in which the plurality of indices 23 are drawn. . Therefore, the image processing device 17 can create an image IM that allows the driver to visually confirm whether or not the moving body 11 can be connected to the object 13 to be indexed without turning back.

Further, in the image processing apparatus 17 of the present embodiment, the index 23 is an object having a specific point positioned at the end and having at least a portion thereof extending in the vertical direction of the moving body 11 . Therefore, the image processing device 17 can create an image IM that allows the driver to easily recognize the height position of the specific point in the vertical direction in the image of the two-dimensional coordinate system.

Further, in the image processing device 17 of the present embodiment, the index 23 is an object having a specific point located at the end and extending in an inclined direction according to the steering angle. Therefore, the image processing device 17 can create an image IM that allows the driver to recognize the current steering angle.

Further, the image processing apparatus 17 of the present embodiment draws an index pair 24 including the indices 23 of each of the two specific points equidistant across the center of the moving object 11 in the width direction on the image IM. The movable body 11 and the object to be indexed 13 are generally connected in a state where the middle positions in the width direction are aligned with each other. In contrast to such a general configuration, in the image processing device 17 having the above configuration, an index serving as a guide for aligning the widthwise middle of the indexable object 13 included in the image IM with the widthwise middle of the moving object 11 is used. An image IM that depicts the pair 24 can be created.

Further, the image processing apparatus 17 of the present embodiment draws the index pairs 24 having different intervals from the center of the moving body 11 in the width direction to the specific point in the image IM at the same movement distance. With such a configuration, the image processing device 17 can align the widthwise middle of the indexable object 13 included in the image IM with the widthwise middle of the moving object 11 even for various indexable objects 13 having different widths. An image IM may be created that depicts index pairs 24 to guide alignment.

Further, in the image processing device 17 of the present embodiment, the index 23 has a different color for each moving distance. With such a configuration, the image processing device 17 can create an image IM that more clearly recognizes the degree of approach of the object 13 to the moving object 11 to be indexed.

Although the present invention has been described with reference to the drawings and examples, it should be noted that various variations and modifications will be readily apparent to those skilled in the art based on this disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention.

For example, as the indicator 23 of the present embodiment, as shown in FIG. 9, there is an example of a rectangular frame having four specific points after movement as vertices. It can be omitted. For example, the indicator 23 may be circular, elliptical, or the like passing through the specific point after movement. Instead of the frame-shaped index 23 indicating the positions of the plurality of specific points at different moving distances, a frame-like index indicating the positions of the specific point after the movement of a single center at different moving distances is used. It's okay. The frame-shaped index may be rendered smaller as the movement distance increases. Also, the size of the frame-shaped index restored in the three-dimensional space may differ for each movement distance.

REFERENCE SIGNS LIST 10 imaging device 11 moving object 12 display 13 object to be indexed 14 hitch 15 connector 16 imaging unit 17 image processing device 18 main body 19 acquisition unit 20 storage unit 21 output unit 22 control unit 23 index 23p projected image of index on road surface 24 index pair 25 first movement trajectory 26 distance auxiliary line 27 second movement trajectory IM image sp specific point after movement

Claims (14)

an acquisition unit that acquires steering angle information from the moving object and an image signal from the imaging unit;
An index indicating a position of a specific point at a specific position with respect to the imaging unit for each different movement distance in movement of the moving body at a steering angle corresponding to the steering angle information is provided in the image signal. a control for drawing on a corresponding image;
The image processing device, wherein the index is an arc based on the specific point before movement. an acquisition unit that acquires steering angle information from the moving object and an image signal from the imaging unit;
An index indicating a position of a specific point at a specific position with respect to the imaging unit for each different movement distance in movement of the moving body at a steering angle corresponding to the steering angle information is provided in the image signal. a control for drawing on a corresponding image;
The index is an object extending in a direction inclined from the vertical direction of the moving object according to the steering angle. The image processing device according to claim 1,
The image processing device, wherein the length of the arc indicates the displacement range of the specific point corresponding to the steerable range of the moving object. In the image processing device according to claim 2,
The index is an object whose end is located at the specific point and at least a part of which extends in the vertical direction of the moving body. In the image processing device according to any one of claims 1 to 4,
The image processing device, wherein the control unit draws, on the image, an index pair including the indices of each of the two specific points that are equidistant across a center in the width direction of the moving body. The image processing device according to claim 5,
The image processing device, wherein the control unit draws, on the image, a plurality of the index pairs having different intervals from the center to the specific point at the same moving distance. The image processing device according to claim 6,
The control unit draws the three or more index pairs such that at least some of the indexes arranged on one side from the center are equidistantly spaced at the same movement distance. The image processing device according to any one of claims 1 to 7,
The image processing device, wherein the specific point is located at the lowest position in the height direction of the moving body and the center position in the width direction. The image processing device according to any one of claims 1 to 8,
The image processing device, wherein the indicator has a different color for each movement distance. The image processing device according to any one of claims 1 to 9,
The control unit indicates a movement trajectory corresponding to the movement of the moving body at the steering angle at both ends in the width direction of the moving body, and a position at a predetermined distance from one end in the front-rear direction of the moving body. An image processing device that draws a distance auxiliary line on the image. an imaging unit that is fixed at a predetermined position on a moving body in a predetermined posture and that generates an image signal by imaging;
Steering angle information is acquired from the moving body, and a specific point at a specific position with respect to the imaging unit moves at a steering angle corresponding to the steering angle information for each different movement distance of the moving body. a control unit that draws an index indicating the position of the image signal on the image corresponding to the image signal,
The imaging device, wherein the index is an arc with the specific point before movement as a reference. an imaging unit that is fixed at a predetermined position on a moving body in a predetermined posture and that generates an image signal by imaging;
Steering angle information is acquired from the moving body, and a specific point at a specific position with respect to the imaging unit moves at a steering angle corresponding to the steering angle information for each different movement distance of the moving body. a control unit that draws an index indicating the position of the image signal on the image corresponding to the image signal,
The imaging device, wherein the indicator is an object that extends in a direction inclined from the vertical direction of the moving body according to the steering angle. the main body;
an imaging unit that is fixed at a predetermined position on the main body in a predetermined posture and that generates an image signal by imaging;
An index indicating the position of a specific point at a specific position with respect to the imaging unit for each different movement distance in the movement of the main body at the steering angle of the main body is displayed on the image corresponding to the image signal. a control unit for drawing;
The indicator is an arc based on the specific point before movement. the main body;
an imaging unit that is fixed at a predetermined position on the main body in a predetermined posture and that generates an image signal by imaging;
An index indicating the position of a specific point at a specific position with respect to the imaging unit for each different movement distance in the movement of the main body at the steering angle of the main body is displayed on the image corresponding to the image signal. a control unit for drawing;
The indicator is an object extending in a direction inclined from the vertical direction of the main body according to the steering angle.

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