Automatic splicing method, system and vehicle for bird's-eye images in panoramic parking

Abstract

The invention discloses an automatic splicing method, system and vehicle for bird's-eye images in panoramic parking. The method first uses a pre-designed calibration cloth and splicing template, and uses the skeleton technology of the image to automatically obtain the cross of the camera overlap area in adjacent calibrated bird's-eye images. The center point of the cross line is used to splice the calibrated bird's-eye view images, and then based on the brightness difference of the sub-images in the camera coverage area of ​​the adjacent calibrated bird's-eye-view images, one of the bird's-eye-view images is stitched using the distance of the pixel point from the splicing gap. The brightness of the camera coverage area is weighted and adjusted. This splicing method can be realized automatically, with high splicing accuracy, and the brightness of the panoramic spliced ​​image changes naturally without obvious splicing gaps. The use of the present invention can reduce the time of manual splicing and improve the quality of panoramic splicing images.

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 ...

AI Technical Summary

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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