Vehicle head and vehicle body panoramic look-around image splicing method

Abstract

The invention discloses a vehicle head and vehicle body panoramic look-around image splicing method, and the method comprises the steps of obtaining a central coordinate of a joint of a vehicle head and a container vehicle body, and setting the central coordinate of the joint of the vehicle head and the container vehicle body as an origin of a coordinate system for vehicle panoramic calibration; storing the internal and external parameter matrix data of the camera on the vehicle head into a panoramic imaging control box mounted on the vehicle head, and storing the internal and external parameter matrix data of the camera mounted on the container vehicle body into a memory in the camera; when a system of the panoramic imaging control box is initialized, enabling the panoramic imaging control box on a vehicle head to obtain internal and external parameter matrix data of cameras stored in the panoramic imaging control box and obtain internal and external parameter matrix data of cameras stored on a boxed vehicle body, and according to the obtained internal and external parameter matrix data of each camera, projecting the image data captured by the camera onto the mapping surface of the target displayed on the screen of the center console to complete panoramic image splicing generation.

Description

Technical field[0001]The present invention relates to the field of vehicle head and body panoramic image stitching technology, and is specifically a vehicle head and body panoramic view image stitching method.Background technique[0002]Currently, panoramic image stitching based on multi-channel cameras and related solutions have been mature. A large number of small-sized vehicles, universal installation of panoramic image generation equipment, the auxiliary driver observes the various blind spots and the environment around the vehicle, and ultimately reduce the probability of various safety incidents, however, for large container trailers, using traditional panoramic image stitching The program is more difficult, the reasons are as follows:[0003]First, large trucks themselves, head, and body (loading container part) are separated. With the same head, at different points in time, different containers may be mounted.[0004]In this case, the camera is mounted on the tail of the vehicle, ...

AI Technical Summary

Problems solved by technology

However, since the container mounted on the front of the car (the pose of the panoramic control box) is uncertain, the camera on the container mounted on the truck and the installation pose of the camera cannot be determined, so 360 panoramic image equipment is difficult to apply to large trucks (cargo boxes are mounted)

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