JP3670647B2 - Image processing device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to an image processing technique for generating a composite image using captured images of a plurality of cameras installed in a vehicle, and is particularly effective for a monitoring system used for assisting safety confirmation when driving a vehicle. Belongs to various technologies.
[0002]
[Prior art]
  Conventionally, as a device for monitoring the surroundings of a vehicle using a camera, a vehicle image providing device described in Japanese Patent Application Laid-Open No. 11-78692 is known. In this device, a plurality of cameras for providing video for vehicles are attached around the vehicle, images taken by each camera are deformed, synthesized while maintaining the continuity of the boundary, and a new image is created. Is displayed.
[0003]
[Problems to be solved by the invention]
  In the vehicle surrounding monitoring system as described above, it is considered that image processing is executed on the assumption that a camera once installed normally does not change its installation position or orientation. This is because it is extremely difficult in practice to perform image processing for generating a composite image in real time in consideration of the installation position and orientation of the camera each time in view of processing time and the scale of the apparatus.
[0004]
  On the other hand, considering the aerodynamic and design aspects of the vehicle, the possibility that the camera used in such a surveillance system will be installed near the door mirror mounting part or in a movable part such as a trunk or bonnet is sufficient. possible.
[0005]
  At this time, the following problems occur.
[0006]
  In other words, a change in the state of the movable part to which the camera is attached may affect the captured image of the camera and cause a shift in the composite image. For example, when the camera is attached in the vicinity of a door mirror, the orientation of the camera changes when the door is opened, so that only a portion using the camera image is shifted on the composite image. As a result, the user feels uncomfortable on the display screen.
[0007]
  The same problem occurs even when the camera is attached to a fixed part. For example, when the door is reflected in a captured image of a specific camera due to the opening of the door, only the portion using the camera image is shifted on the composite image. As a result, the deviation on the composite image gives the user a sense of discomfort and is not preferable.
[0008]
  In view of the above problems, the present invention is an image processing apparatus that generates a composite image using captured images of a plurality of cameras installed in a vehicle, and the captured image of the camera is affected by a change in the state of a movable part of the vehicle. Even in such a case, it is an object to prevent the user from feeling uncomfortable on the display image.
[0009]
[Means for Solving the Problems]
  In order to solve the above-described problem, the solving means taken by the invention of claim 1 is an image processing apparatus, which is installed in a vehicle and receives images taken by a plurality of cameras that photograph the surroundings of the vehicle. From captured images, Showing the situation of the vehicle and its surroundingsAn image processing unit that generates a composite image and outputs the composite image to a display device, wherein the image processing unit is caused by a change in a state of a movable part of the vehicle, so that at least one installation position or orientation of the plurality of cameras When the composite image becomes abnormal, the display mode of the composite image is switched from the normal mode to the abnormal mode., GoA message that informs the user of a change in the state of the movable part that causes the abnormal mode is output together with the adult image, and the message differs depending on the type of the movable part in which the state change has occurred.
[0010]
  According to the first aspect of the present invention, it is possible to quickly and accurately inform the user that the state of the movable part is not desirable for driving the vehicle, for example, by switching the display mode of the composite image.
[0011]
  In the second aspect of the invention, the message in the image processing apparatus of the first aspect includes contents for specifying the movable part in which the state change has occurred.
[0012]
  According to a third aspect of the present invention, the image processing unit in the image processing apparatus according to the first aspect outputs the message to the vicinity of the movable part on the composite image where the state change has occurred.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[0014]
  (First embodiment)
  FIG. 1 is a block diagram showing a configuration of a monitoring system according to the first embodiment of the present invention. In the monitoring system illustrated in FIG. 1, the image processing unit 2 receives a plurality of camera images output from the imaging unit 1 and combines them to generate a new image. This composite image is displayed by the display device 3. The image processing unit 2 constitutes an image processing apparatus according to the present invention.
[0015]
  FIG. 2 is a diagram illustrating an example of camera arrangement in the present embodiment, and FIG. 3 is a diagram illustrating an example of captured images of each camera. Here, it is assumed that eight cameras are arranged as shown in FIGS. In the camera arrangements of FIGS. 2 and 3, it is preferable to determine the position and orientation of each camera so that overlapping areas are formed in the images of adjacent cameras in order to eliminate the surrounding blind spots as much as possible.
[0016]
  The image processing unit 2 deforms and synthesizes the eight camera images shown in FIG. 3, and generates a synthesized image that looks down vertically from the upper side of the vehicle, for example. In order to generate a composite image, image deformation processing and composite processing (including boundary processing) of the deformed partial image are required. However, the configuration in FIG. 1 includes a mapping table reference unit 22 and includes a captured image. In order to perform the processing in one step, the mapping table MPT is used. The mapping table will be described later.
[0017]
  The mapping table selection unit 41 selects the display content of the composite image and instructs the mapping table MPT corresponding to the selected display content. This selection may be made artificially or automatically according to the vehicle state such as the gear position, the steering angle or the winker. A signal for selecting the mapping table MPT is sent to the message output unit 26 together with the mapping table reference unit 22.
[0018]
  The display switching unit 23 receives the state signal S1 indicating the state of the movable part of the vehicle and switches the display mode of the composite image. For example, when the installation position or orientation of any of the plurality of cameras changes due to a change in the state of the movable part and the composite image becomes abnormal, the display mode of the composite image is switched from the normal mode to the abnormal mode. In the abnormal mode, for example, a composite image is generated without using a captured image of a camera whose installation position or orientation has changed.
[0019]
  FIG. 4 is an example of a composite image that is no longer normal due to a change in the state of the movable part of the vehicle. As can be seen from the composite image in FIG. 4, the captured images of the camera 1 and the camera 2 have changed because the right door of the vehicle has been opened. There is a shift in the part.
[0020]
  Therefore, in this embodiment, the open / closed states of the right door, the left door, the trunk, and the hood where the camera is installed are used as the state of the movable part of the vehicle. That is, information such as “the right door is open” or “the hood is closed” is input to the display switching unit 23 by the status signal S1. The display switching unit 23 has in advance data indicating the correspondence between the movable part of the vehicle and the camera number as shown in FIG. 5, and using this correspondence and information indicated by the status signal S1, a composite image is displayed. The display mode is switched.
[0021]
  FIG. 6 is a diagram showing an example of switching the display mode of the composite image according to the present invention. In the figure, (a) is a composite image in the normal mode. When all the movable parts of the vehicle are in the closed state, the composite image becomes normal and is displayed as shown in FIG. FIG. 6B is an example of a composite image in the abnormal mode, and it is assumed that the right door of the vehicle is in an open state. In the synthesized image of FIG. 6B, the captured images of the camera 1 and the camera 2 installed on the right door are not used for image synthesis, but are filled with a predetermined color instead. Note that instead of painting with a predetermined color, another pattern may be used, or the color may be switched at an appropriate time interval.
[0022]
  In the present embodiment, such switching of the composite image display mode is realized by rewriting the mapping data of the mapping table MPT.
[0023]
  In the abnormal mode, the output of the composite image itself may be stopped, or the message output unit 26 may output a message.
[0024]
  In FIG. 6C, in the abnormal mode, only a message indicating that the right door is open is output without outputting a composite image. Further, in FIG. 6D, the composite image shown in FIG. 6B is displayed, and the same message as in FIG. 6C is also output. As shown in FIG. 6D, the camera image affected by the change in the state of the movable part is not used for generating the composite image, but the change in the state of the movable part that causes the change (for example, the door is open). ) Is output together with a message that informs the user, it becomes possible to know the state of the vehicle such as the driver more quickly and accurately.
[0025]
  The message output unit 26 stores a message to be displayed in advance, for example, in the form of an image, and selects the state signal S1 indicating the state of the movable part of the vehicle and the mapping table MPT output from the mapping table selection unit 41. In response to the signal to be transmitted, the message image to be displayed on the composite image is selected and sent to the video signal generator 24.
[0026]
  FIG. 7 is a diagram illustrating an example of message images stored in the message output unit 26. In the example of FIG. 7, the message portion is white (when expressed in 256 RGB tones (255, 255, 255)), and the other portions are black (0, 0, 0). The size of the message image is the same as the size of the composite image.
[0027]
  The content and display position of the message in the message image differ depending on the mapping table used for generating the composite image and the type of the movable part in which the state change has occurred. For this reason, it is desirable that a message image is prepared for each assumed condition and the message image can be selected and used according to the situation.
[0028]
  FIG. 8 is a diagram showing the correspondence between the mapping table used for the composite image and the state of the movable part of the vehicle and the message image to be displayed. For example, the second line of FIG. 8 shows a message when the currently selected mapping table is for “looking down” image generation and the “right door” is open among the movable parts of the vehicle. This means that the first image is selected as the image. FIG. 7A shows an example of the first message image. When the mapping table is “looking down” and the “right door” is in the open state, the image taken by the camera installed on the right door is not used for image composition, so it is installed on the right door on the composite image. A message “The right door is open” is displayed at the position where the camera image should be used.
[0029]
  The message output unit 26 stores information as shown in FIG. 8 in advance, receives a state signal S1 indicating the state of the movable part of the vehicle, and a signal for selecting the mapping table MPT, and displays a message image to be displayed. Select and output. The video signal generation unit 24 receives the message image output from the message output unit 26 and displays the message image superimposed on the combined image output from the pixel combining unit 21.
[0030]
  For superimposing the message images, for example, for each pixel, RGB values in the composite image and the message image may be extracted and the larger value may be output. For example, when this method is applied to the message image of FIG. 7A, the RGB value of the composite image is used for the black pixel portion of the message image, while the RGB value of the message image is always used for the white pixel portion of the message image. As a result, an image in which only the message portion is superimposed on the synthesized image can be obtained. In this case, it is desirable to paint a portion where the camera image is not used on the composite image with a dark color so that it is difficult to see the result of the white message being superimposed.
[0031]
  In addition, when using this superposition method to display a composite image in a state where any of the movable parts are closed (that is, in the normal mode), the entire message as shown in FIG. An image filled with (0, 0, 0) may be prepared. That is, an image as shown in FIG. 7B may be prepared as the seventh message image shown in the bottom row of FIG. Of course, in the normal mode, the message output unit 26 may not output the message image.
[0032]
  Furthermore, when a plurality of movable parts are in the open state, the following measures can be taken. For example, when “looking down” is selected as the mapping table and both the right door and the left door are open, the message output unit 26 first sets the message image corresponding to each condition as the first message image. The images of (for example, FIG. 7A) and No. 2 (for example, FIG. 7C) are selected. Then, for each pixel, the RGB values in the first image and the second image are respectively extracted, and a larger message value is selected to generate a new message image (for example, FIG. 7D). What is necessary is just to send to the video signal generation part 24.
[0033]
  Here, characters are used as messages, but not limited to characters, for example, simplified diagrams and illustrations may be used as messages. Needless to say, if the message output is not performed in the abnormal mode, the message output unit 26 may be omitted.
[0034]
  Hereinafter, rewriting of mapping data will be described in detail.
[0035]
  The “mapping table” is a table in which the correspondence between the pixel of the composite image and the pixel data of each camera image is described, and is used to perform the composite image generation process at high speed.
[0036]
  The pixel of the camera image and the pixel of the composite image may correspond one-to-one or may correspond to a plurality of one-to-one. Whether to correspond one-to-one or plural-to-one depends on the installation position of the camera, the type of synthesized image to be generated, and the like. For example, when boundary processing is performed at the boundary portion of a camera image, the pixel of the camera image and the pixel of the composite image often correspond one-to-one.
[0037]
  FIG. 9 is a schematic diagram illustrating an example of a mapping table. In the mapping table shown in FIG. 9, mapping data is provided corresponding to each pixel coordinate (i, j) of the composite image.
[0038]
  For example, mapping data MP1 is provided corresponding to pixel coordinates (i1, j1). This mapping data MP1 indicates that only pixel data of coordinates (12, 45) of the captured image of the camera 1 is used for generating a pixel of coordinates (i1, j1) of the composite image. Further, since the degree of necessity is “1”, in this case, the pixel data of the coordinates (12, 45) of the captured image of the camera 1 is used as it is as the pixel value of the coordinates (i1, j1) of the composite image.
[0039]
  Also, mapping data MP2 is provided corresponding to the pixel coordinates (i2, j2). The mapping data MP2 includes pixel data of the coordinates (10, 10) of the captured image of the camera 1 and coordinates (56, of the captured image of the camera 0) in order to generate a pixel at the coordinates (i2, j2) of the composite image. 80) pixel data is used. In this case, the pixel value of the coordinates (i2, j2) of the composite image is set according to the necessity, for example,
  Pixel value = {(pixel value of coordinates (56, 80) of camera 1) × 0.5
          + (Pixel value of coordinates (10, 10) of camera 0) × 0.3}
          /(0.5+0.3)
Can be determined as follows.
[0040]
  By creating such a mapping table in advance by calculation using geometric transformation or the like in advance, a desired composite image, for example, a composite image that represents the whole, rear, or side of the periphery of the vehicle. Can be generated at high speed. The display mode of the composite image can be easily switched by switching the mapping table used for generating the composite image. The display mode can be switched manually or automatically according to the traveling state of the vehicle.
[0041]
  Specifically, the mapping table is stored in, for example, a ROM (including a writable / erasable ROM such as an EEPROM) or a RAM. The storage of the mapping table may be realized, for example, by writing the mapping data obtained by calculation by the processor in the image processing unit into the ROM or RAM, or the mapping table data provided as firmware may be stored in a communication line or disk drive. The data may be written in the RAM or ROM using a data transfer means such as.
[0042]
  Next, an operation for generating a composite image using the mapping table MPT and the display switching unit 23 will be described.
[0043]
  FIG. 10 is a flowchart showing the overall flow of the image composition operation according to this embodiment. First, in step S11, the frame memories 12a and 12b of the imaging unit 1 are switched. The timing generation unit 25 generates a timing signal for generating a moving image sequence of a composite image. Based on the frame start timing signal output from the timing generation unit 25, the imaging unit 1 switches between a frame memory in which a captured image of each camera 11 is written and a frame memory referred to by the image processing unit 2. As will be described later, the position of the pixel of the camera image referred from the image processing unit 2 is skipped regardless of the order of writing from the camera 11, so that writing and reference do not interfere with each other. Because.
[0044]
  Next, in step S <b> 12, the timing generation unit 25 sets the pixels of the composite image to be output in accordance with the composite output timing.
[0045]
  In step S <b> 13, the mapping table reference unit 22 reads the mapping data corresponding to the pixel set by the timing generation unit 25 from the set mapping table MPT and outputs it to the display switching unit 23. In step S20, the display switching unit 23 receives the status signal S1 and rewrites the mapping data read from the mapping table reference unit 22 as necessary. Then, it is output to the pixel composition unit 21. Details of step S20 will be described later.
[0046]
  In step S <b> 30, the pixel synthesis unit 21 synthesizes the pixel values set by the timing generation unit 25 according to the input mapping data, and outputs the synthesized value to the video signal generation unit 24. In step S <b> 14, the video signal generation unit 24 converts the pixel value of the input composite image into a video signal according to the timing signal from the timing generation unit 25, and outputs the video signal to the display device 3.
[0047]
  The timing generation unit 25 executes the processing from step S12 onward for all the pixels of the frame (S15, S16), and when the processing of the last pixel of the frame is completed, the processing of the next frame is started.
[0048]
  Of course, field unit processing may be executed.
[0049]
  FIG. 11 is a flowchart showing the operation of the display switching unit 23 in step S20 of the flow shown in FIG.
[0050]
  First, in step S21, one of the movable parts of the vehicle, that is, the open / closed state of any of the right door, the left door, the trunk, or the bonnet is read from the input state signal S1. Then, when the movable part is in the open state (YES in S22), the process proceeds to step S23, and the number of the camera installed in the movable part is obtained from the pre-stored data as shown in FIG. On the other hand, when in the closed state (NO in S22), the open / closed state of other movable parts is read (S27, S21).
[0051]
  In step S25, it is checked whether or not the camera number obtained in step S23 matches the camera number written in the mapping data. If they match (YES in S25), the process proceeds to step S26, and the data relating to the camera number in the mapping data is rewritten with the contents representing the camera unusable state. In the example of FIG. 11, the camera number, the X coordinate, and the Y coordinate are all rewritten to “−1”. On the other hand, when the camera numbers do not match (NO in S25), the open / close state of other movable parts is read (S27, S21).
[0052]
  When the above process is completed for all the movable parts (YES in S27), the process proceeds to step S28, the necessity of mapping data is recalculated, and the process is terminated.
[0053]
  The operation of the display switching unit 23 in step S20 will be specifically described taking the case where the mapping data MP2 shown in FIG. 9 is input to the display switching unit 23 as an example. Here, for the sake of explanation, it is assumed that only the right door of the vehicle is open.
[0054]
  First, since it can be seen that the right door of the vehicle is open (S21, S22), "1" and "2" are obtained as the camera numbers of the cameras installed on the right door with reference to the correspondence shown in FIG. (S23).
[0055]
  Next, it is checked whether the camera numbers “1” and “2” match the camera number described in the mapping data MP2 (S25). Since the camera number “1” is described in the mapping data MP2, the data relating to the camera 1 is rewritten to the contents indicating the camera unusable state (S26). On the other hand, since the camera number “2” is not described in the mapping data MP2, it is not rewritten.
[0056]
  Since all the other movable parts are in the closed state, the process proceeds to step S28, and the necessary degree is recalculated. Here, the degree of necessity for the camera 1 that has become unusable is set to “0”, and the degree of necessity for the camera 0 is set to “1”.
[0057]
  FIG. 12 is a flowchart showing details of the pixel composition processing in step S30 in the flow shown in FIG.
[0058]
  First, in step S31, the value of the pixel to be combined is initialized to “0”.
[0059]
  In step S32, the camera number, the X and Y coordinates of the pixel, and the necessary degree are read from the corresponding mapping data. When the read camera number is usable, the pixel values corresponding to the X and Y coordinates are read out and held from the frame memory storing the corresponding camera image (S34). On the other hand, when the read camera number is unusable, a predetermined pixel value (for example, black) indicating that the camera is unusable is held and output (S35, S39).
[0060]
  In step S36, the held pixel value is weighted with necessity and added to the value of the pixel to be synthesized.
[0061]
  The above-described processing is repeatedly executed for all camera numbers described in the mapping data (S37, S38). When the processing is completed (YES in S37), the value of the pixel to be combined is output (S39).
[0062]
  As described above, by switching the display mode of the composite image, it is possible to avoid giving the user an uncomfortable feeling even when the state of the movable part of the vehicle changes and the composite image becomes abnormal.
[0063]
  (Second Embodiment)
  FIG. 13 is a block diagram showing the configuration of the monitoring system according to the second embodiment of the present invention. In FIG. 13, the same reference numerals as those in FIG. 1 are given to the same components as those in FIG. 1, and detailed description thereof is omitted here.
[0064]
  In the configuration of FIG. 13, the display switching unit 23A switches the display mode of the composite image by switching whether or not the camera image is input from the imaging unit 1 to the pixel composition unit 21A according to the state signal S1. It is characterized by that. That is, when the switch 31 is provided on the camera image input side of the pixel composition unit 21A and the display switching unit 23A recognizes that any of the movable parts is in the open state based on the state signal S1, as shown in FIG. From this information, a camera that cannot be used for generating a composite image is specified, and the switch 31 is controlled so that a captured image of the camera is not input to the pixel composition unit 21A.
[0065]
  For this reason, in the present embodiment, the image composition is performed using the mapping table as in the first embodiment, but the processing S20 for changing the mapping data in the flow shown in FIG. 10 is omitted. Different from the embodiment. That is, since the input of the captured image of the camera is physically stopped, the process S20 for changing the mapping data according to the state of the movable part is naturally not necessary. Accordingly, steps S33 and S35 in the flow of FIG. 12 are also omitted.
[0066]
  The configuration of the second embodiment can be easily applied to an image processing unit that does not use a mapping table.
[0067]
  In each embodiment described above, the display device 3 is typically a liquid crystal display, but other display devices such as a plasma display may be used. Further, it may be shared with a vehicle-mounted GPS terminal display, that is, a so-called car navigation system display. The camera 11 used in the imaging unit 1 is typically a color or monochrome digital camera having a solid-state imaging device such as a CCD or CMOS device, but other imaging devices may be used.
[0068]
  In each of the above-described embodiments, it is assumed that the installation position and orientation of the camera change due to a change in the state of a movable part such as a door or a bonnet, thereby causing the composite image to become abnormal. However, other than this, there may be a case where the area occupied by the movable part in the captured image of the camera changes due to a change in the state of the movable part, thereby causing the composite image to become abnormal. For example, when the door is opened, the opened door is reflected in a captured image of a camera.
[0069]
  Even in such a case, instead of the data shown in FIG. 5, data indicating the correspondence between the movable part and the camera whose state change of the movable part affects the captured image is prepared in advance in the display switching unit. In this case, the same effect can be obtained by the same processing as in each of the embodiments described above.
[0070]
  For example, information such as the degree of opening can be used instead of the binary information such as the open / close state. For example, the normal mode may be maintained when the door opening degree is minute, and the normal mode may be switched to the abnormal mode when the opening degree exceeds a predetermined threshold. Further, the movable parts are not limited to doors, bonnets, and trunks, and tires, antennas, movable mirrors, lights, and the like are conceivable. For example, when the tire affects the composite image, the display mode may be switched according to the steering angle of the tire.
[0071]
  In the present invention, the vehicle includes ordinary cars, light cars, trucks, buses, and the like. In addition, special vehicles such as a crane truck and a shovel car can be used as the vehicle of the present invention as long as the technical idea of the present invention can be applied.
[0072]
  In the above description, the monitoring system and the image processing apparatus according to the present invention are applied to a vehicle. However, the present invention can also be applied to a moving body other than a vehicle, such as an airplane or a ship. it can. Moreover, you may install a camera in monitoring objects other than a moving body, for example, a shop, a residence, a showroom, etc.
[0073]
  Further, the installation positions and the number of cameras are not limited to those shown here.
[0074]
  Further, all or part of the functions of the image processing apparatus according to the present invention may be realized by using dedicated hardware, or may be realized by software. It is also possible to use a recording medium or transmission medium storing a program for causing a computer to execute all or part of the functions of the image processing apparatus according to the present invention.
[0075]
【The invention's effect】
  As described above, according to the present invention, even when an abnormality occurs in the composite image due to a change in the state of the movable part of the vehicle, it is avoided that an image that gives a sense of incongruity to the user is displayed. be able to. In addition, by switching the display mode of the composite image, it is possible to quickly and accurately notify the user that the movable part is in an undesired state for driving the vehicle, for example.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a monitoring system according to a first embodiment of the present invention.
FIG. 2 is an example of a camera arrangement in the first embodiment of the present invention.
FIG. 3 is a diagram illustrating an example of camera arrangement and captured images of each camera according to the first embodiment of the present invention.
FIG. 4 is an example of a composite image that is no longer normal due to a change in state of a vehicle movable part.
FIG. 5 is data showing a correspondence relationship between a vehicle movable part and a camera, which the display switching unit has.
FIG. 6 is a diagram showing an example of switching the display mode of a composite image according to the present invention.
FIG. 7 is a diagram illustrating an example of a message image.
FIG. 8 is a diagram illustrating a correspondence relationship between a mapping table and a state of a movable part of a vehicle, and a message image to be displayed.
FIG. 9 is a schematic diagram illustrating an example of a mapping table.
FIG. 10 is a flowchart showing an overall flow of an image composition operation.
FIG. 11 is a flowchart showing details of step S20 in the flow shown in FIG. 10;
12 is a flowchart showing details of step S30 in the flow shown in FIG.
FIG. 13 is a block diagram showing a configuration of a monitoring system according to a second embodiment of the present invention.
[Explanation of symbols]
2 Image processing unit
3 display devices
11 Camera

Claims (3)

Image processing that is installed in a vehicle and that receives captured images of a plurality of cameras that capture the surroundings of the vehicle , generates a composite image indicating the vehicle and the surroundings from these captured images , and outputs the composite image to a display device Part
The image processing unit
When the installation position or orientation of at least one of the plurality of cameras changes due to a change in the state of the movable part of the vehicle and the composite image is not normal, the display mode of the composite image is changed to the normal mode. Switch to abnormal mode from
In the abnormal mode, the synthetic image, and outputs a message informing the user of the state change of a movable part that causes abnormal mode,
The image processing apparatus according to claim 1, wherein the message varies depending on a type of a movable part in which a state change has occurred. The image processing apparatus according to claim 1.
The image processing apparatus according to claim 1, wherein the message includes contents for specifying a movable part in which a state change has occurred. The image processing apparatus according to claim 1.
  The image processing unit outputs the message to the vicinity of the movable part where the state change has occurred on the composite image.
An image processing apparatus.

Images