Vehicle all-round multi-view panorama generation method based on OPENGL

Abstract

The present invention discloses a vehicle all-round multi-view panorama generation method based on an OPENGL. The method comprises the steps of: collecting images comprising special calibration objects by employing four fish-eye cameras respectively installed at the front and back sides and the left and right sides of a vehicle, employing a DLT (Direct Line Transformation) to calculate coordinatesystems of the four cameras and a homograph matrix H of a world coordinate system, and obtaining an Euler angle and a translation vector between the coordinate systems of the four cameras and the world coordinate system through Rodrigues transformation; on this basis, taking vehicle and ground projections as a center to build a flat-bottom bowl model, employing calibrated inner and outer parameters of the cameras to determine a mapping relation of key points in the model and pixel points in fish-eye camera images, mapping texture of each original image onto the flat-bottom bowl model in real time; and finally, controlling movement of a virtual observation camera according to an assigned path, and performing real-time rendering of the scene to obtain an observation result. The vehicle all-round multi-view panorama generation method based on the OPENGL can effectively solve the problem that a traditional 2D panorama distant object is severely stretched, and has good immersion.

Description

technical field [0001] The invention relates to the technical field of automotive electronics, in particular to an OPENGL-based method for generating a multi-angle panorama for a vehicle-mounted surround view. Background technique [0002] In recent years, with the development of the economy and the improvement of people's living standards, more and more families choose cars as their daily travel tools. However, due to the limited field of vision provided by auxiliary observation equipment such as windows and rearview mirrors, tragedies such as scratches and crushes often occur. [0003] In order to solve this problem, a reverse assist system with only one lens installed at the rear of the vehicle came into being. The system transmits the images of the rear camera to the central control screen in the car in real time. Compared with the radar, the observation results are more intuitive, which can effectively help the driver quickly understand the surrounding environment when...

AI Technical Summary

Problems solved by technology

[0010] The present invention intends to solve the problem of poor immersion in traditional CPU-based 3D multi-view panoramas, and provides an OPENGL-based vehicle-mounted surround view multi-view panorama generation method

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