APPARATUS FOR COMPENSATING AROUND VIEW IMAGE DISTORTION ACCORDING TO GRADIENT VARIATION OF CONSTRUCTION EQUIPMENT AND METHOD THEREOF

摘要

The present invention relates to a device and a method thereof to correct the distortion of an around-view image in accordance with an inclination change of construction equipment. According to the present invention, the around-view image distortion correcting device includes: an image receiving part receiving a plurality of images from a plurality of cameras (α,γ,β,θ) installed on each of the front, rear, left, and right sides of construction equipment; an image converting part converting the images into around-view images; an angular value receiving part installed on the construction equipment to receive a sensed angular value from a sensor sensing the angle of the construction equipment inclined in pitch and roll directions; a coordinate deriving part deriving first image obtaining range end point coordinates when the construction equipment is located on flat ground, a second image obtaining range end point coordinates when the equipment is located on a slope, and the first image obtaining range end point coordinates on an image distorted by the slope by reflecting the angular value; an image correcting part correcting the distorted image by moving the first image obtaining range end point coordinates on the distorted image to the first image obtaining range end point coordinates; and an output part combining the corrected images to output an around-view image.