An imaging device includes a plurality of pixels that receives incident light entering from an object after passing through neither an imaging lens nor a pinhole, and each outputs a detection signal indicating an output pixel value modulated in accordance with an incident angle of the incident light. The imaging device is attached to a vehicle so that a light receiving surface faces a side of the vehicle, and the average of the centroids of incident angle directivities indicating directivities of the plurality of pixels with respect to the incident angle of the incident light deviates in one direction from the center of the pixel. The present technology can be applied to an electronic sideview mirror, for example.

A vehicular interior rearview mirror assembly includes a mounting structure and a mirror head pivotally mounted at the mounting structure via a pivot joint. The mirror head includes a mirror casing and a display and mirror assembly, which includes a frame portion, a video display screen at a front side of the frame portion, and a mirror reflective element at a front side of the video mirror display screen. The mirror reflective element includes a variable reflectivity liquid crystal (VRLC) stack of layers, which have a liquid crystal (LC) layer disposed between a rear glass substrate and a front glass substrate. The front and rear glass substrates are integrated in the VRLC stack of layers. With the mounting structure mounted at an interior portion of a vehicle, the video display screen is operable to display video images derived from video images provided by an ECU of the vehicle.

A vehicular interior rearview mirror assembly includes a mounting structure and a mirror head pivotally mounted at the mounting structure via a pivot joint. The mirror head includes a mirror casing and a display and mirror assembly, which includes a frame portion, a video display screen at a front side of the frame portion, and a mirror reflective element at a front side of the video mirror display screen. The mirror reflective element includes a variable reflectivity liquid crystal (VRLC) stack of layers, which have a liquid crystal (LC) layer disposed between a rear glass substrate and a front glass substrate. The front and rear glass substrates are integrated in the VRLC stack of layers. With the mounting structure mounted at an interior portion of a vehicle, the video display screen is operable to display video images derived from video images provided by an ECU of the vehicle.

A method for calibrating extrinsic parameters (182) of a trailer camera (132d, 132e, 132f) supported by a trailer (106) attached to a tow vehicle (102). The method includes determining a three-dimensional feature map (162) from one or more vehicle images (133) received from a camera (132a, 132b, 132c) supported by the tow vehicle and identifying reference points (163) within the three-dimensional feature map. The method includes detecting the reference points within one or more trailer images received from the trailer camera after the vehicle and the trailer moved a predefined distance in the forward direction. The method also includes determining a trailer camera location (172) of the trailer camera (132d, 132e, 132f) relative to the three-dimensional feature map (162) and determining a trailer reference point (184) based on the trailer camera location. The method also includes determining extrinsic parameters (182) of the trailer camera relative to the trailer reference point.

A method for calibrating extrinsic parameters (182) of a trailer camera (132d, 132e, 132f) supported by a trailer (106) attached to a tow vehicle (102). The method includes determining a three-dimensional feature map (162) from one or more vehicle images (133) received from a camera (132a, 132b, 132c) supported by the tow vehicle and identifying reference points (163) within the three-dimensional feature map. The method includes detecting the reference points within one or more trailer images received from the trailer camera after the vehicle and the trailer moved a predefined distance in the forward direction. The method also includes determining a trailer camera location (172) of the trailer camera (132d, 132e, 132f) relative to the three-dimensional feature map (162) and determining a trailer reference point (184) based on the trailer camera location. The method also includes determining extrinsic parameters (182) of the trailer camera relative to the trailer reference point.

Provided is a display control apparatus including a vehicle detector and a processor, in which the processor performs projection conversion for projecting the plurality of captured images onto a projection plane, performs a visual point conversion process for converting at least one of the plurality of captured images into an image viewed from a virtual visual point, and sets a ground height of the virtual visual point when the surrounding vehicle is not detected in a predetermined region to be lower than a ground height of the virtual visual point when the surrounding vehicle is detected in the predetermined region.

In a mobile object, a camera unit including an optical system that forms an optical image having a high-resolution region and a low-resolution region on a light receiving surface of an image pickup element and is disposed on a side of the mobile object, wherein the camera unit is installed to meet the following conditions: A tan (h/(d1+x))−θv/2<φv<A tan (h/(d2+x))+θv/2, φh_limit=max (A tan ((w1−y)/(d1+x))−θh/2, A tan ((w2−y)/(d2+x))−θh/2), φh limit <φh <−A tan (y/(d1+x))+θh/2, where θv and θh denote a vertical and a horizontal field angle of the high-resolution region, φv and φh denote a vertical and a horizontal direction angle of the optical axis of the optical system, x, y, and h denotes offsets, and w1 and w2 denote predetermined widths on the ground at the distances d1 and d2.

In a mobile object, a camera unit including an optical system that forms an optical image having a high-resolution region and a low-resolution region on a light receiving surface of an image pickup element and is disposed on a side of the mobile object, wherein the camera unit is installed to meet the following conditions: A tan (h/(d1+x))−θv/2<φv<A tan (h/(d2+x))+θv/2, φh_limit=max (A tan ((w1−y)/(d1+x))−θh/2, A tan ((w2−y)/(d2+x))−θh/2), φh limit <φh <−A tan (y/(d1+x))+θh/2, where θv and θh denote a vertical and a horizontal field angle of the high-resolution region, φv and φh denote a vertical and a horizontal direction angle of the optical axis of the optical system, x, y, and h denotes offsets, and w1 and w2 denote predetermined widths on the ground at the distances d1 and d2.

In a camera system, a captured image of a rear of a vehicle is acquired, an optical image having a high-resolution region and a low-resolution region is formed on an imaging unit, a first image is generated by cutting out a first region from an image region corresponding to the high-resolution region in an image read from the imaging unit, a second image is generated by cutting out a second region from an image region different from the first region, the first image and the second image are generated such that at least a portion of a lower end of the second region is positioned below a lower end of the first region, and at least a portion of an upper end of the second region is positioned below an upper end of the first region, and at least one of the first image and the second image is output for display.

In a camera system, a captured image of a rear of a vehicle is acquired, an optical image having a high-resolution region and a low-resolution region is formed on an imaging unit, a first image is generated by cutting out a first region from an image region corresponding to the high-resolution region in an image read from the imaging unit, a second image is generated by cutting out a second region from an image region different from the first region, the first image and the second image are generated such that at least a portion of a lower end of the second region is positioned below a lower end of the first region, and at least a portion of an upper end of the second region is positioned below an upper end of the first region, and at least one of the first image and the second image is output for display.