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Automatic panorama parking aerial view image splicing method, system and vehicle

An automatic image stitching and image technology, applied in the field of image processing, can solve the problems of unnatural brightness changes, reduce the accuracy of panorama stitching, increase the difficulty of technicians' work, etc., and achieve the effect of accurate stitching

Active Publication Date: 2017-02-01
SHANDONG ACAD OF SCI INST OF AUTOMATION
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Problems solved by technology

For the current panoramic assisted parking products, when obtaining the stitching parameters, many technicians need to manually operate to complete the stitching of the final bird’s-eye view image. This working method will increase the difficulty of the technician’s work and reduce the accuracy of the panoramic stitching. In addition, because the four cameras are installed at different heights and angles, the brightness of each part of the panoramic stitching image changes unnaturally, which is not conducive to the driver's parking

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  • Automatic panorama parking aerial view image splicing method, system and vehicle
  • Automatic panorama parking aerial view image splicing method, system and vehicle
  • Automatic panorama parking aerial view image splicing method, system and vehicle

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Embodiment Construction

[0069] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.

[0070] First of all, it is necessary to determine the radial distortion coefficient and tangential distortion coefficient of the fisheye camera. Here, the manual calibration method is used to approximate the fisheye camera model with a pinhole camera model, and Zhang Zhengyou’s calibration method is used to determine the camera parameters. The camera calibration algorithm is implemented in detail. Use OpenCV (open source computer vision) to achieve it. Use the camera to be calibrated to take 25-30 checkerboard calibration board images. Too few calibration board images will cause too much error. Be careful not to shoot calibration board images parallel to the imaging plane, and The angle and imaging surface should not be too small, and the two images of the calibration plate shoul...

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Abstract

The invention discloses an automatic panorama parking aerial view image splicing method, system and vehicle. According to the method, firstly a pre-designed calibration cloth and a splicing template are utilized, the image skeleton technology is utilized to automatically acquire a cross line center point of camera overlapping regions of adjacent calibration aerial view images, the center point is utilized to splice the calibration aerial view images, and weight adjustment on brightness of a camera overlapping region of one aerial view image is carried out through utilizing a distance between a pixel and a splicing slit according to brightness values of sub images of the camera overlapping regions of the adjacent calibration aerial view images. The splicing method is advantaged in that the method can be automatically realized, splicing precision is relatively high, brightness transformation of the panorama splicing images is natural, the splicing slit is not obvious, the manual splicing time can be shortened, and panorama splicing image quality is improved.

Description

technical field [0001] The invention belongs to the field of image processing, and relates to an automatic splicing method, system and vehicle for bird's-eye view images in panoramic parking. Background technique [0002] When the driver is reversing and parking, the probability of a reversing accident accounts for a large proportion of road traffic accidents. There are many reasons for reversing accidents, such as blind spots in the rearview mirror, blurred vision of the driver caused by bad weather, and unskilled driving skills of the driver. Although reversing accidents seldom cause serious traffic accidents, they often bring trouble and some economic losses to car owners. The panoramic assisted parking system collects real-time images of the vehicle in multiple directions through multiple fisheye cameras installed around the vehicle body, and the image processing unit processes these images to finally provide the driver with a 360-degree panoramic image around the Any ...

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Application Information

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IPC IPC(8): G06T3/40G06T7/11G06T7/80G06T5/00
CPCG06T3/4038G06T2207/30264G06T2207/20004G06T2207/20041G06T5/80
Inventor 闫旭琴李研强王磊张晓鹏
Owner SHANDONG ACAD OF SCI INST OF AUTOMATION
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