Method for representing harmonized occluded regions of a mobile platform's surroundings

Abstract

A method for representing an occluded area of ​​a surrounding environment of a mobile platform relative to an object area of ​​a first and second imaging device of the mobile platform is disclosed, the method comprising the following steps: determining a delta area, which is a difference between a second occluded area of ​​the surrounding environment and a first occluded area of ​​the surrounding environment, the second occluded area being occluded relative to the object areas of the first and second imaging devices at a second time step, and the first occluded area being occluded relative to the object areas of the first and second imaging devices at a first time step; determining a first overlapping image and a second overlapping image, which are an overlap of an image of the first imaging device or an image of the second imaging device and the delta area, wherein both images are taken at a first time step; determining a difference in optical properties of the images of the first and second imaging devices; and reconciling the difference in optical properties in at least one overlapping image.

Description

Technical Field

[0001] The invention relates to a method for representing an occluded area of ​​the surroundings of a mobile platform, which area is occluded relative to an object area of ​​a first and a second imaging device of the mobile platform. Background Art

[0002] The mobile platform may be an at least partially automated mobile system, such as an at least semi-autonomous vehicle and / or a vehicle including a driver assistance system.

[0003] Such vehicles may include a driver assistance system for visualizing the vehicle's surroundings. The driver assistance system may be referred to as a surround view system and typically includes one or more imaging devices, such as cameras or video systems, which may be mounted on the vehicle, for example on the roof of the vehicle, wherein each imaging device may provide a different viewing area or have a different viewing angle relative to the surroundings. This means that the object areas of different imaging devices are different, wherein the object area is the area in which the imaging device can capture images of objects that are actually present in the area.

[0004] Due to physical and optical limitations, such imaging devices typically have "blind spot" areas, meaning that the actual image of the imaging device has areas of the surrounding environment that are obscured. For example, this may be an area of ​​the ground below a mobile platform, such as the ground below a vehicle that is obscured by the vehicle itself.

[0005] Even in the area where two object areas overlap, there may be differences in the optical properties between the original images taken by different imaging devices pointing to different segments of the surrounding environment. Such image synthesis based on different imaging devices with different optical properties of the synthesized area is used to present an image of the occluded area, where each segment originating from a different imaging device reduces the overall visual quality of the synthesized image.

[0006] The area under the hood of the vehicle is particularly important, as images of such occluded areas are required in parking or off-road conditions. Differences in the optical characteristics of the images from different imaging devices around the mobile platform may be related to differences in brightness, color, including quality issues of the generated images, and surrounding environmental conditions such as shadows or other issues that may corrupt or interfere with the synthesis of such images. Summary of the invention

[0007] Therefore, the present invention relates to a method for representing an occluded area of ​​the surroundings of a mobile platform, a panoramic surround view system, a mobile platform, a computer program and a computer-readable storage medium.

[0008] Advantageous modifications of the invention are set out in the dependent claims. All combinations of at least two features disclosed in the description, claims and drawings belong to the scope of the invention. To avoid repetition, the features disclosed according to the method should also be applied according to the system and can be claimed for protection.

[0009] To explain the method, the method steps are described, but the method should not be understood to be limited to the sequence of the method steps. As is known to any person skilled in the art, the object of the invention can be achieved using a different sequence of the method steps.

[0010] Various aspects of the invention are based on the fact that the interior of an occluded area of ​​a mobile platform, such as a vehicle, can be synthesized in such a way that image data obtained by taking an image by an imaging device at a previous time step represents the occluded area if the actual occluded area is visible. This means that an area that was occluded at a second time step may be visible in an object area of ​​the imaging device at a first time step because the mobile platform including the imaging device moved between the first and second time steps.

[0011] An aspect of the present invention provides a method for representing an occluded area of ​​a surrounding environment of a mobile platform relative to an object area of ​​a first and a second imaging device of the mobile platform.

[0012] In one step of the method, a delta region is determined, which is the difference between a second occluded region of the surrounding environment and a first occluded region of the surrounding environment. At a second time step, the second occluded region is occluded relative to the object regions of the first and second imaging devices. In addition, at a first time step, the first occluded region of the surrounding environment is occluded relative to the object regions of the first and second imaging devices.

[0013] In a further step, a first overlapping image and a second overlapping image are determined, which are an overlap of an image of the first imaging device or an image of the second imaging device with the delta region, wherein both images were recorded at a first time step.

[0014] In a further step, differences in optical properties of the images of the first and second imaging means are determined.

[0015] In a further step, differences in optical properties are reconciled within at least one overlapping image.

[0016] Such occluded regions are caused by the physical limitations of a single imaging device generating an image representing the complete surroundings of the mobile platform. Furthermore, even if more than one imaging device is used, where each imaging device is pointed in a different direction relative to the mobile platform, there may be regions of the surroundings that are occluded relative to the object region of the imaging device.

[0017] The object region of the imaging device is a region in which the imaging device can generate an image of the object.

[0018] In view of this, the mobile platform includes at least a semi-automated system, which has at least semi-automated functions, but the mobile platform also includes vehicles and other mobile machines, including driver assistance systems. Other examples of mobile platforms can also be driver assistance systems using multiple sensors, mobile multi-sensor robots such as robot vacuum cleaners or robot lawn mowers, multi-sensor monitoring systems, manufacturing machines, personal assistants, or access control systems. Each of these systems can be a fully automated system or a semi-automated system.

[0019] According to one aspect, the method for blending at least the second occluded area comprises a method for compensating an original image of an imaging device for optical distortions possibly originating from an optical system used by said imaging device.

[0020] The optical properties of an image can typically be represented by the color and / or brightness of a single pixel of the image. In addition to such optical properties of the smallest unit of the image, there may also be optical properties associated with groups of pixels, such as structures and shadow areas.

[0021] The blending of these optical properties may involve a continuous and smooth transition of the optical properties from one location of the image having the first optical property to another location of the image having the second optical property. A variety of techniques may be used for image blending. Examples of blending may be blending within the second overlapping region, blending in different directions, blending of identified gradients within or outside an occluded region, and the like.

[0022] This method of synthesizing segments of images of different imaging devices can represent an occluded area even if the area in the actual image of the imaging device used by the mobile platform is outside its object area. The quality of the representation of the area is improved by blending segments of the representation of the occluded area, which are composed of segments of images taken by at least two imaging devices of the occluded area at a time point when the area is not occluded relative to the imaging device used.

[0023] The difference in optical properties of the images of the first and second imaging devices can be determined using an image region suitable for a smooth transition of optical properties, and the selection of this region can also take into account smooth transitions within the image of the surroundings actually captured by the imaging device. This synthetic and harmonic representation of the visualizing of the occluded area on a screen inside the vehicle, for example, can provide a pleasing picture to the vehicle passengers or driver without annoying harsh contrasts in the picture representing the occluded area. Thereby, the representation of occluded areas, such as under the hood area of ​​the vehicle, is particularly improved.

[0024] In another aspect, the difference in optical properties is determined by comparing optical properties of at least a first reference area within an image of the first imaging device and at least a second reference area within an image of the second imaging device.

[0025] An advantage of referencing the optical properties to image regions outside the occluded region is that the representation of the occluded region automatically matches the actual object region of the imaging device used.

[0026] In another aspect, the first reference area and the second reference area are selected from object areas of the first imaging device and the second imaging device, respectively, wherein the two object areas overlap.

[0027] Determining the difference in optical properties of the images of at least two imaging devices from an overlapping object area of ​​these imaging devices results in a good description of the optical properties of the two images. This can determine the difference in optical properties at locations where a strong contrast of the combined image could be objectionable because two images of different imaging devices are adjacent to each other at this location.

[0028] In another aspect, the difference in the optical properties of the images of the first and second imaging devices is determined by averaging the optical properties in the reference region. This may increase the accuracy of the determined difference.

[0029] In another aspect, the reference regions have the same size and overlap each other in the corresponding object regions of the surrounding environment.

[0030] According to another aspect, the method for representing an occluded area of ​​the surroundings can be performed multiple times using different reference areas. Differences in optical properties are characterized with reference to different directions of the surroundings, wherein corresponding reconciliation is performed in at least one overlapping image taking into account the differences in optical properties with respect to different directions.

[0031] According to another aspect, the first and / or second overlapping images are harmonized with respect to an optical property gradient, the optical property gradient being defined by a difference in the optical property and a length associated with the occluded region.

[0032] To define such a gradient based on the determined difference in optical properties, the relevant length may be, for example, a boundary line of the occluded area, such as a front boundary line, or a position boundary line, which may be the entire boundary line or a portion of a boundary line.

[0033] According to one aspect, blending of the second occluded region may include blending the second overlapped image by adjusting pixels of the second overlapped image adjacent to a boundary between the first overlapped image and the second overlapped image according to the determined optical characteristic of the first imaging device.

[0034] Starting from the boundary line between the first overlapping image and the second overlapping image, each pixel of the second overlapping image arranged parallel to the front boundary line of the second blocked area is linearly adjusted with respect to its optical characteristics so that the pixels of the side boundary of the second blocked area match the optical characteristics of the second image device. All pixels in between are adjusted and adapted according to the generated gradients.

[0035] The remaining area of ​​the second overlaid image may be adjusted to match the particular characteristics of the second imaging device.

[0036] This means that there is a smooth transition in the at least one overlapping image used for the blending.The gradient can be calculated taking into account the absolute value of the difference in the optical properties of the images of the first and second imaging device and a distance, which as explained above is defined for example by half the length of the occluded area.

[0037] According to another aspect, the blending of the first or second overlapping images includes adjusting a value of an optical characteristic of each pixel of the first or second overlapping images corresponding to a value and a direction of the gradient.

[0038] The adjustment adaptation of the optical characteristic value of each pixel can be calculated using the linear formula 1:

[0039] OP=(1-t)·OP2+(t·OP1) (1)

[0040] Wherein, OP represents the optical property to which the pixel is adjusted, the distance of the pixel from the determined OP1 is 1-t, or the distance from the determined position of OP2 is t. OP2 and OP1 represent the image optical properties of the first and second imaging devices at respective positions.

[0041] An advantage of adjusting the optical property value of each pixel of the overlapping image corresponding to the gradient of intensity and direction based on the difference in optical properties with a reference area outside the occluded area is a smooth transition of the optical properties, wherein the transition can match the optical properties of the actual object area representing the environment surrounding the mobile platform.

[0042] According to another aspect, the optical property value is a brightness value and / or a color value.

[0043] As mentioned above, the optical properties of a single pixel can be given by a brightness value and a color value. The color value depends on the color model used and typically includes three values ​​for three colors. The brightness or blending of the individual colors can be done using different techniques, but blending using formula 1 is a simpler and faster method with less work and better results. This means that each single color can be blended in the same way as the brightness by linearly adapting the pixel using the determined gradient as described above.

[0044] According to another aspect, delta regions are determined using movement data of a mobile platform.

[0045] For example, at a time point in the first time step, the occluded area may not be part of the object area of ​​at least two imaging devices. If the mobile platform is moving, the occluded area is also moving and is defined in the same way as explained in the second time step. After defining the occluded area in the first time step, the movement data of the mobile platform can be used to update the position data of the surrounding environment in the second time step. In order to determine the movement data of the mobile platform, for example, the delta area can be determined using its own movement data or data from a controller area network bus (CAN). The bus data of the controller area network includes, for example, steering and speed data, movement data determined from the image, and related to its own movement.

[0046] If a movement vector gives the movement distance and movement direction between two time steps, then a movement vector can be defined so as to transfer the occluded area of ​​the first time step to the occluded area of ​​the second time step.

[0047] According to another aspect, the first imaging device is directed in a forward direction of the mobile platform, and the second imaging device is directed at least partially in a direction of motion of the mobile platform.

[0048] If the second imaging device is at least partially pointed in the direction of movement of the platform, the image of the second imaging device at the first time step overlaps with the actual occluded area, and the image can provide the overlapping area required to represent the occluded area.

[0049] According to another aspect, the second occluded region is represented by a segment of the blended second overlap image, the first overlap image, and the representation of the first occluded region.

[0050] If the mobile platform moves in a straight line, then there is no need to reconcile the representation of the occluded areas, as the occluded areas can be updated with image data from an image device pointed forward of the mobile platform.

[0051] If the mobile platform turns to a different direction, the image data of the blocked area from a different imaging device needs to be updated.

[0052] To completely update the representation of the occluded area, a segment of the previously occluded area, a segment of the image of the first imaging device pointed in front of the mobile platform, and a segment of the image of the second imaging device, i.e., a second overlapping area, are required. The second overlapping area is reconciled as described above to adjust and adapt the other segments and the actual images of at least two imaging devices.

[0053] Another aspect of the method is schematically shown below:

[0054] At time point t, the image data i from the front, right and left sides of the mobile platform are: i_f, i_r, i_l;

[0055] And at time point t-1: i_f[t-1], i_r[t-1], i_l[t-1],

[0056] The image data is provided by four raw surround view camera images;

[0057] And the image block of the covered area at time point t-1: g[t-1];

[0058] Use the motion data mv_x, mv_y of the mobile platform to apply brightness and / or color blending of the projection surface;

[0059] The transformation of the image block is implemented using the following formula: g[x, y, t] = g[x + mv_x, y + mv_y, t-1], where the motion vector is within the image block;

[0060] The following formula is used to implement the transformation of the image block: g[x,y,t]=i_f,i_r,i_l,i_r[x+mv_x,y+mv_y,t-1], where the motion vector is outside the image block.

[0061] Use the movement data mv_x, mv_y.

[0062] Another aspect of the method is schematically illustrated by the following steps:

[0063] - Vehicle start

[0064] - Surround view system activated

[0065] -Multiple cameras continuously collect real-time camera data

[0066] -Retain the last frame data of multiple cameras

[0067] -Monitoring of vehicle's own movement information

[0068] - Blend images with previously stored raw data

[0069] -Build historical ground level views

[0070] - Render brightness corrected blind spot ground plane

[0071] The mobile platform may include four imaging devices pointing in different directions to cover the entire surroundings of the mobile platform, excluding the occluded area below the mobile platform. For parking purposes or for outdoor activities, it would be helpful for the vehicle driver to have access to a representation of this hidden occluded area.

[0072] According to another aspect, the representation of the obstructed area is stored between vehicle power cycles. This can provide information about the obstructed area of ​​the vehicle in a parking position, for example, during a previous trip, to support driving out of the parking position.

[0073] According to another aspect, a representation of the obstructed area is shown on the screen of the mobile platform. This representation as a picture on the screen can support the driver when parking or outdoor activities.

[0074] Another aspect of the invention relates to a device which is configured to carry out the method according to the above-described method. Such a device can carry out the method in an easily accessible and transportable manner.

[0075] Another aspect of the invention relates to a computer program comprising instructions which, when a computer executes the program, cause the computer to carry out the method described above.

[0076] Another aspect of the present invention relates to a computer-readable storage medium storing the above-mentioned computer program. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Reference will now be made in detail to the exemplary embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

[0078] Figure 1 showing a top view of a mobile platform turning left, the mobile platform including first and second obscured areas;

[0079] Figure 2 Demonstrate vehicles that include screens and surround-view systems; and

[0080] Figure 3 Steps for representing occluded areas of the surrounding environment are shown.

[0081] The accompanying drawings are only schematic diagrams and are only used for the purpose of illustrating the present invention. The advantages and features of the present invention and methods for implementing the present invention will be described below in conjunction with the embodiments described in the accompanying drawings. However, the present invention can be implemented in different ways and should not be construed as being limited to the embodiments described herein. DETAILED DESCRIPTION

[0082] The shapes, sizes, ratios, angles and quantities disclosed in the drawings used to describe the embodiments of the present invention are examples only, and therefore, the present invention is not limited to the details shown. Unless otherwise specified, terms in the singular may include plural forms. When explaining an element, even if it is not explicitly stated, the element is interpreted as including a margin of error.

[0083] It should be understood that although the terms "first", "second", etc. may be used herein to describe different elements / components, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element without departing from the scope of the present invention.

[0084] The embodiments of the present invention may be implemented independently of each other, or may be implemented in conjunction with each other.

[0085] Figure 1 A top view of an obstructed area associated with a mobile platform at a ground plane at a first time step as defined above is displayed. The mobile platform may include a driver assistance system and / or a panoramic surround view system. In this exemplary embodiment, the mobile platform includes at least four imaging devices pointing to four different directions for the mobile platform to obtain a panoramic surround view of the actual surrounding environment of the mobile platform. The imaging devices are arranged in such a way that the imaging device pointing to the front of the mobile platform can capture the object area F in front of the mobile platform. The imaging device pointing to the back of the mobile platform can capture the object area B' in the area behind the mobile platform. Object area L and object area R correspond to the left object area or the right object area of ​​the mobile platform that can be captured by the corresponding imaging devices pointing to the left and right sides of the mobile platform, respectively.

[0086] The object areas of the corresponding imaging devices may overlap, but in order to represent the surrounding environment, the above-mentioned areas F, B', L and R are defined, so as to form a relationship between these areas. Figure 1 Boundary lines 11, 12, 13, 14 are shown.

[0087] Since the mobile platform moves to the left, for example, Figure 1 As shown, the first blocked area 20a is converted into the second blocked area 20b. This is because the imaging device moves together with the mobile platform, resulting in that the new object area of ​​each single imaging device also defines the corresponding second blocked area 20b.

[0088] To update a given representation of the first occluded region 20a after the mobile platform moves to a new position and generates a second occluded region 20b, the representation of the second occluded region 20b is as follows: Figure 1 As shown, it can be synthesized from three segments A, B and C.

[0089] In step S1, a delta area AB is determined. The delta area AB is the difference between a second occluded area 20b of the surroundings at the second time step relative to the object area of ​​the first imaging device F and the second imaging device L and a first occluded area 20a of the surroundings at the first time step relative to the object area of ​​the first imaging device F and the second imaging device L.

[0090] In step S2, a first overlapping image A and a second overlapping image B are determined, wherein what is described here is the overlap of the image of the first imaging device and the image of the second imaging device with the delta region AB, respectively, wherein both images are taken at the first time step. The image of the first imaging device is an image of the object region F of the front imaging device, and the image of the second imaging device is an image of the object region L of the left imaging device of the mobile platform. The segment for defining the first overlapping region A and the second overlapping region B is defined by the overlap of the two images with the delta region AB, and is the sum of the two overlapping regions A and B.

[0091] The optical properties of the first overlapping area A and the still obscured section C of the representation of the first obscured area 20a may already be adapted to one another, since the image data for representing the first obscured area 20a may be based on an image of an imaging device directed toward the front object area F of the mobile platform.

[0092] The optical properties of the second overlapping area B, ie the overlap of the second imaging device's images directed to the left object area L of the mobile platform, may be different from the optical properties of the first imaging device's images directed to the front object area of ​​the mobile platform.

[0093] In step S3, the difference in image optical characteristics of the first and second imaging devices is determined.

[0094] In particular, the difference in optical properties may be determined by comparing the optical properties of at least a first reference region Rf within the image of the first imaging device F and at least a second reference region Rs within the image of the second imaging device L.

[0095] In particular, if the object areas of the two imaging devices overlap with Rf-Rs, at least the first reference area Rf and at least the second reference area Rs are surrounding areas. This means that, for example, at the boundary line 11, the object area of ​​the first imaging device (in this example, the imaging device pointing to the front object area F) and the object area of ​​the second imaging device (in this example, the imaging device pointing to the left object area L) both overlap. In order to represent the surroundings, a boundary line such as line 11 is defined, where the images of these object areas are adjacent to each other.

[0096] The reference area may be at any distance and position from the first shaded area 20 a , for example, directly adjacent to the first shaded area 20 a at the boundary line 11 .

[0097] In particular, the difference in optical properties of the images of the first and second imaging devices may be determined by averaging the optical properties in the first reference region Rf and the second reference region Rs for determining the difference in optical properties of the image of the first imaging device and the image of the second imaging device.

[0098] In particular, the two reference regions Rf and Rs are of the same size and overlap in the corresponding object region of the surroundings.

[0099] The second overlapping image B is blended according to an optical property gradient defined by the optical property difference as described above and a length relative to the first obscured area. In particular, the length may be half the distance from the front of the obscured area to the back of the obscured area.

[0100] The blending of the second overlapping image comprises in particular an adaptation of the value of the optical property of each pixel of the second overlapping image according to the value and direction of the gradient. This means that the optical property of each image pixel of the second overlapping image is adopted corresponding to the distance to a point in the overlapping area, wherein, starting from the value determined by the optical property of the image with reference to the front imaging device to the value of the optical property determined by the left imaging device, the brightness difference is determined up to the middle of the blocked area.

[0101] Starting from the boundary line 11 between the first overlapping image A and the second overlapping image B, each pixel of the second overlapping image B arranged parallel to the front boundary line of the second blocked area 20b is linearly adjusted relative to its optical characteristics so that the pixels of the side boundary of the second blocked area match the optical characteristics of the second image device. All pixels in between are adjusted and adapted according to the generated gradient. The adjustment and adaptation of the optical characteristic value of each pixel can be calculated using the linear formula 1:

[0102] OP=(1-t)·OP2+(t·OP1)

[0103] Wherein, t is the typical distance relative to OP1 and OP2 as described above.

[0104] OP1 and OP2 are optical characteristics of the first reference region Rf and the second reference region Rs. The remaining area of ​​the second overlapping image may be adjusted to match the special characteristics of the second imaging device.

[0105] This means that there is a smooth transition in at least one of the overlapping images used for the blending.

[0106] Figure 2 A vehicle 200 including a screen 220 and a surround view system is schematically shown.

[0107] Figure 3 The method comprising steps S1 to S4 as described above is schematically shown.

Claims

1. A method for representing an occluded area (20a, 20b) of a surrounding environment of a mobile platform (200) relative to an object area of ​​a first and a second imaging device of the mobile platform (200), wherein: The first imaging device and the second imaging device are pointed in different directions relative to the mobile platform (200), and the method comprises the following steps: determining a delta area (AB) (S1) which is a difference between a second occluded area (20b) of the surrounding environment that is occluded relative to the object area of ​​the first and second imaging devices at the second time step and a first occluded area (20a) of the surrounding environment that is occluded relative to the object area of ​​the first and second imaging devices at the first time step; Determining a first overlapping image (A) and a second overlapping image (B) (S2), which is an overlap of an image of the first imaging device or an image of the second imaging device and the delta region (AB), wherein both images are taken at a first time step; determining a difference in optical properties of the images of the first and second imaging devices (S3); and reconciling differences in optical properties in at least one of the overlapping images (A, B) (S4), Wherein, the first overlapping image (A) and / or the second overlapping image (B) are harmonized with respect to an optical property gradient, wherein the optical property gradient is defined by a difference in optical properties and a length associated with a first occluded area (20a), and the harmonization of the first overlapping image (A) or the second overlapping image (B) includes adjusting the optical property value of each pixel of the first overlapping image (A) or the second overlapping image (B) corresponding to the value and direction of the gradient.

2. The method according to claim 1, wherein: The difference in optical properties is determined by comparing the optical properties of at least a first reference region (Rf) within the image of the first imaging device and at least a second reference region (Rs) within the image of the second imaging device.

3. The method according to claim 2, wherein: If the object areas of the two imaging devices overlap, the at least first reference area (Rf) and the at least second reference area (Rs) are areas of the surrounding environment.

4. The method according to any one of claims 1 to 3, wherein: The optical property value is a brightness value and / or a color value.

5. The method according to any one of claims 1 to 3, wherein: A delta area (AB) is determined using movement data of a mobile platform (200).

6. The method according to any one of claims 1 to 3, wherein: The first imaging device is directed toward the front of the mobile platform (200), while the second imaging device is directed at least partially toward the direction of motion of the mobile platform.

7. The method according to any one of claims 1 to 3, wherein: The second occluded region (20b) is represented by the blended second overlapped image (B), the first overlapped image (A) and the segment (C) of the representation of the first occluded region (20a) that remains occluded.

8. The method according to claim 7, wherein: A representation of the second occluded region (20b) is stored between power cycles of the vehicle.

9. The method according to any one of claims 1 to 3, wherein: A representation of the second occluded area (20b) is presented on a screen (220) of the mobile platform (200).

10. A panoramic surround view system (210) for representing an obstructed area (20a, 20b) of a surrounding environment of a mobile platform (200) relative to an object area of ​​a first and a second imaging device of the mobile platform (200), wherein: The first imaging device and the second imaging device point to different directions relative to the mobile platform (200), wherein the panoramic surround viewing system (210) comprises: means for determining a delta area (AB) which is a difference between a second occluded area (20b) of the surrounding environment which is occluded relative to the object area of ​​the first and second imaging devices at the second time step and a first occluded area (20a) of the surrounding environment which is occluded relative to the object area of ​​the first and second imaging devices at the first time step; means for determining a first overlapping image (A) and a second overlapping image (B), which is an overlap of an image of the first imaging device or an image of the second imaging device and the delta region (AB), wherein both images were taken at a first time step; means for determining a difference in optical properties of the images of the first and second imaging devices; and means for reconciling differences in optical properties within at least one overlapping image (A, B), Wherein, the first overlapping image (A) and / or the second overlapping image (B) are harmonized with respect to an optical property gradient, wherein the optical property gradient is defined by a difference in optical properties and a length associated with a first occluded area (20a), and the harmonization of the first overlapping image (A) or the second overlapping image (B) includes adjusting the optical property value of each pixel of the first overlapping image (A) or the second overlapping image (B) corresponding to the value and direction of the gradient.

11. A mobile platform (200) comprising a screen (220) for visualizing a representation of an occluded area (20a, 20b) and a panoramic surround view system (210) according to claim 10.

12. The mobile platform (200) according to claim 11, wherein: The mobile platform (200) is a vehicle.

13. A computer program product comprising instructions which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 9.

14. A computer-readable storage medium storing the computer program product according to claim 13.

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