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    • 1. 发明授权
    • Image processing device
    • US12142055B2
    • 2024-11-12
    • US17794898
    • 2020-12-25
    • HITACHI ASTEMO, LTD.
    • Tetsuya YamadaKoji DoiTakeshi ShimaHaruki MatonoHideaki Kido
    • G06V20/56G06T7/10G06V10/24
    • G06V20/56G06T7/10G06V10/242G06T2207/10144G06T2207/30252
    • There is provided an image processing device capable of easily reducing a burden related to image recognition and obtaining stable recognition performance even when a posture of a vehicle changes from moment to moment. An image processing device 50 includes a storage unit 5 and an image processing unit 6. The storage unit 5 stores a pickup image acquired by an image pickup unit 4 mounted on the vehicle and an inclination angle transmitted from an inclination angle sensor 2 that detects the inclination angle of the vehicle. The image processing unit 6 performs image processing on the pickup image. The image processing unit 6 associates the pickup image in an inclined state with the inclination angle based on a time difference Δt between a time from when the pickup image in the inclined state is acquired by the image pickup unit 4 until the acquired pickup image is stored in the storage unit 5, and a time from when the inclination angle is detected by the inclination angle sensor 2 until the detected inclination angle is stored in the storage unit 5. The image processing unit 6 generates a recognition image in a non-inclined state, which is used for image recognition of the pickup image, from the pickup image in the inclined state based on the inclination angle associated with the pickup image.