Image generation device and operation support system

Abstract

An image generation device generates an output image based on an image obtained by taking images by an image-taking part mounted to a body to be operated, which boy is capable of performing a turning operation. A coordinates correspondence part causes coordinates on a columnar space model, which is arranged to surround the body to be operated and has a center axis, to correspond to coordinates on an image plane on which the input image is positioned. An output image generation part generates the output image by causing values of the coordinates on the input image plane to correspond to values of the coordinates on an output image plane on which the output image is positioned through coordinates on the columnar space model. The columnar space model is arranged so that an optical axis of the image-taking part intersects with the center axis of said columnar space model.

1 . An image generation device that generates an output image based on an image obtained by taking images by an image-taking part mounted to a body to be operated, which boy is capable of performing a turning operation, the image generation device comprising:
 a coordinates correspondence part configured to cause coordinates on a columnar space model, which is arranged to surround said body to be operated and has a center axis, to correspond to coordinates on an image plane on which said input image is positioned; and   an output image generation part configured to generate said output image by causing values of the coordinates on said input image plane to correspond to values of the coordinates on an output image plane on which said output image is positioned through coordinates on said columnar space model,   wherein said columnar space model is arranged so that an optical axis of said image-taking part intersects with the center axis of said columnar space model.   
     
     
         2 . The image generation device as claimed in  claim 1 , wherein
 a plurality of said image-taking parts are provided, and   said columnar space model is arranged so that each of components of a projection of optical axes of said image-taking parts on a plane perpendicular to said center axis intersects at a single point on the center axis of said columnar space model.   
     
     
         3 . The image generation device as claimed in  claim 2 , wherein said columnar space model is arranged so that perpendicular lines drawn from optical centers of said image-taking parts to the center axis of said columnar space model, respectively, are perpendicular to each other. 
     
     
         4 . The image generation device as claimed in  claim 1 , further comprising a storage part configured to store correspondence information, as map information, acquired by the correspondence by said coordinates correspondence part. 
     
     
         5 . The image generation device as claimed in  claim 1 , wherein
 said coordinates correspondence part causes coordinates on a processing-target image plane on which a processing-target image to be subjected to an image conversion process is positioned to correspond to coordinates on said columnar space model, and   said output image generation part generates said output image by causing values of coordinates on said input image plane to the values of coordinates on said output image plane through the coordinates on said processing-target image plane and the coordinates on said columnar space model.   
     
     
         6 . The image generation device as claimed in  claim 1 , wherein said output image is trimmed to be a circular shape so that a center of the circular shape is positioned on the center axis of said columnar space model and on a turning axis of said body to be operated. 
     
     
         7 . An image generation device that generates an output image based on input images obtained by taking images by a plurality of image-taking parts mounted to a body to be operated, which body is capable of performing a turning operation, the image generation device comprising:
 a coordinates correspondence part configured to cause coordinates on a columnar space model, which is arranged to surround said body to be operated and has a center axis, to correspond to coordinates on an image plane on which said input image is positioned; and   an output image generation part configured to generate said output image by causing values of the coordinates on said input image plane to correspond to values of the coordinates on an output image plane on which said output image is positioned through coordinates on said columnar space model,   wherein said columnar space model is arranged so that each of components of a projection of optical axes of said image-taking parts on a plane perpendicular to said center axis intersects at a single point on the center axis of said columnar space model.   
     
     
         8 . The image generation device as claimed in  claim 7 , wherein
 said coordinates correspondence part causes coordinates on a processing-target image plane on which a processing-target image to be subjected to an image conversion process is positioned to correspond to coordinates on said columnar space model, and   said output image generation part generates said output image by causing values of coordinates on said input image plane to the values of coordinates on said output image plane through the coordinates on said processing-target image plane and the coordinates on said columnar space model.   
     
     
         9 . The image generation device as claimed in  claim 7 , wherein said output image is trimmed to be a circular shape so that a center of the circular shape is positioned on the center axis of said columnar space model and on a turning axis of said body to be operated. 
     
     
         10 . The image generation device as claimed in  claim 7 , further comprising a storage part configured to store correspondence information, as map information, acquired by the correspondence by said coordinates correspondence part. 
     
     
         11 . An operation support system that supports a movement or an operation of a body to be operated, comprising:
 the image generation device as claimed in  claim 1 ; and   a display part configured to display the output image generated by the image generation device.   
     
     
         12 . The operation support system as claimed in  claim 11 , wherein said display part is installed in an operator room to move or operate said body to be operated. 
     
     
         13 . An operation support, system that supports a movement or an operation of a body to be operated, comprising:
 the image generation device as claimed in  claim 7 ; and   a display part configured to display the output image generated by the image generation device.   
     
     
         14 . The operation support system as claimed in  claim 13 , wherein said display part is installed in an operator room to move or operate said body to be operated.