Tractor aerial view splicing method and system based on imu pose correction

Abstract

The invention provides a method and a system for splicing aerial views of a tractor. The method comprises the following steps: calibrating a plurality of cameras mounted on the tractor; acquiring a real-time image shot by the camera after calibration and position and attitude information output by an imu module mounted on the tractor; when the position and attitude information is judged to obtain that the tractor is in non-rigid motion, adjusting the real-time images by using the position and attitude information, and splicing the adjusted real-time images into an aerial view; and when the position attitude information is judged to obtain that the tractor is in rigid body motion, splicing an aerial view according to the real-time images. According to the method, six-eye aerial view splicing in a common scene is expanded to a wider application scene through an imu module, the aerial view splicing problem of the tractor in a non-rigid body motion scene is solved, and the vehicle body aerial view around the tractor can be completely and clearly presented.

Description

technical field [0001] The invention belongs to the technical field of driving assistance, and in particular relates to a stitching method and system for a bird's-eye view of a tractor based on IMU pose correction. Background technique [0002] The car surround view camera system is to set up multiple wide-angle cameras around the vehicle that can cover all the field of view around the vehicle, process multiple video images collected at the same time, and synthesize a bird's-eye view of the vehicle's surrounding body. The vehicle surround view camera system can provide richer perception information for self-driving vehicles. [0003] At present, the vehicle-mounted surround-view camera system is mainly used in cars, and the bird's-eye view of the vehicle body is obtained by stitching multiple bird's-eye views, which specifically includes feature point extraction and image registration for images captured by the camera using traditional image stitching methods. [0004] Due ...

AI Technical Summary

Problems solved by technology

[0004] Due to the long body of the tractor, non-rigid body motion is prone to occur when the tractor is turning. However, if the existing vehicle-mounted surround view camera system is applied to the tractor, when the tractor turns, the bird's-eye view of the vehicle body obtained will be dislocated. , cannot fully and clearly show the bird's-eye view of the body around the tractor

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