Dynamic Stitching Seam Adjustment for Surround View
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Solution Overview
Problem
In vehicle-mounted surround view systems, fixed-position stitching seams can cause pedestrians to disappear from the 360-degree surround view, affecting driver experience and posing a safety risk to pedestrians.
Innovation Solution
A method for adjusting the stitching seam in surround view stitching, which involves receiving fisheye images from multiple lenses, detecting a target object, projecting images to a stitching image, calculating the adjustment direction of the stitching seam based on the target object's distance from each lens, and adjusting the seam accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If fixed-position stitching seams are used to fuse adjacent camera stitching areas, then the stitching process is simple and stable, but pedestrians may disappear from the 360-degree surround view affecting driver experience and pedestrian safety
Solution Approach 1:
The stitching seam position is changed from fixed to dynamic. The system continuously adjusts the stitching seam position based on real-time detection of target objects (pedestrians). When a pedestrian is detected near the stitching area, the system dynamically shifts the stitching seam position to ensure the pedestrian remains visible in the surround view, thus resolving the contradiction between simple fixed stitching and reliable pedestrian visibility.
Solution Approach 2:
The system implements a feedback mechanism where the position of the stitching seam is continuously adjusted based on feedback from target object detection. The detection module identifies pedestrians and provides feedback to the stitching module, which then adjusts the seam position accordingly. This closed-loop feedback system ensures pedestrian visibility while maintaining operational simplicity through automated control.
2Adaptability or versatility
If the stitching seam is dynamically adjusted to include target objects, then pedestrian safety is improved, but the stitching process becomes more complex
Solution Approach 1:
The external parameters of the fisheye lenses serve multiple functions: they are used for both the initial coordinate system transformation and for dynamic stitching seam adjustment. By reusing the same external parameters (position, orientation, focal length) for both static and dynamic operations, the system achieves adaptability without proportionally increasing complexity. The multi-functionality of these parameters reduces the overall system complexity while enabling dynamic seam adjustment.
Solution Approach 2:
The system adjusts the stitching seam position by changing parameters (offset values) in the coordinate transformation equations rather than fundamentally altering the transformation methodology. By modifying numerical parameters based on target object position while keeping the transformation framework consistent, the system achieves adaptability with minimal increase in computational complexity.
Data Source
AI summary
A method for adjusting a stitching seam for surround-view stitching is provided. A first fisheye image from a first fisheye-lens camera and a second fisheye image from a second fisheye-lens camera are received. A target object in both of the first fisheye image and the second fisheye image is detected. The first fisheye image, the second fisheye image, and the target object are projected to a stitching image, which includes a stitching seam. The adjustment direction of the stitching seam is calculated according to the distance between the target object and the first fisheye-lens camera and the distance between the target object and the second fisheye-lens camera in the stitching image. The stitching seam is adjusted according to the adjustment direction.