CN106994936A - A kind of 3D panoramic parking assist systems - Google Patents
A kind of 3D panoramic parking assist systems Download PDFInfo
- Publication number
- CN106994936A CN106994936A CN201610054644.8A CN201610054644A CN106994936A CN 106994936 A CN106994936 A CN 106994936A CN 201610054644 A CN201610054644 A CN 201610054644A CN 106994936 A CN106994936 A CN 106994936A
- Authority
- CN
- China
- Prior art keywords
- image
- camera
- axis
- module
- origin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
It is to belong to a kind of technology applied to automotive safety auxiliary driving field the invention discloses a kind of 3D panoramic parking assist systems.System includes camera input module, image correction module, tripleplane's module, image mosaic module and image display.System is that the three-dimensional image of motor vehicle environment situation is truly presented to driver, to improve the security during automobile parking.The present invention combines a variety of machine vision and the Processing Algorithm of Digital Image Processing, has merged the multinomial advanced technology of field of machine vision, automobile parking process is had higher security.
Description
Technical field：
The present invention relates to the three-dimensional image of motor vehicle environment situation is more realistically presented into driver, to improve automobile
The security parked, belongs to vehicle electric field and field of machine vision, is aided in more particularly, to automotive safety
Driving field.
Background technology：
In recent years, automobile industry is developed rapidly, and the automobile quantity of China also steeply rises, while car steering
Ratio in personnel shared by non-professional human pilot also rolls up.It is crowded in street, garage and parking lot etc.
When narrow and small place is moved backward, because there is blind area in conventional optical rearview mirror, it is easy to occur scratching.
In order to solve sight blind zone problem, a kind of traditional 2D panoramic parking assist systems are born.Pass through peace
Mounted in four camera collection images of vehicle body surrounding, and birds-eye view splicing is converted into, driver is existed
The birds-eye view of vehicle body neighboring area is seen in driver's cabin, so as to avoid colliding because reversing is improper.But,
This traditional 2D panoramic parking assist systems are projected on two dimensional surface, may only show birds-eye view picture,
It is sometimes difficult to recognize barrier；Especially portrait, due to overlooking visual angle, portrait is flat in point-like and shadow
Face image, this makes driver be difficult discrimination, adds the danger during parking.
In order to more truly show the situation of vehicle periphery three-dimensional image to driver, 3D panoramas, which are parked, aids in system
System arises at the historic moment.In 3D panoramic parking assist systems, adopted by four cameras installed in vehicle body surrounding
Collect image, then given birth to using a whole set of image processing techniques by the image projection of collection to three-dimension curved surface
Into image closer in kind, can clearly distinguish barrier, while without any dead angle and blind area,
Greatly improve the security parked.
During the present invention is realized, inventor has found that prior art at least has following problem：
Under normal circumstances, 3D panoramic parking assist systems use bugeye lens and fish eye lens, and it is deformed and abnormal
Change is difficult to accurate correction, the 3D panorama sketch to be formed is there is gross distortion, makes scene untrue；In three-dimensional throwing
In the selection of shadow curved surface, current existing threedimensional model is in bowl-type, distort in the parts of images of bowl wall to bottom surface,
Deformation is serious；There is brightness disproportionation weighing apparatus in the directional image of 3D panorama sketch four, overlay region brightness is inconsistent, and exists
The problems such as splicing vestige.
There is the experience that problem have impact on user in these, or even because unintelligible to scenery identification, add and park
In danger.
The content of the invention：
It is an object of the invention to provide a kind of 3D panoramic parking assist systems, by the three-dimensional scape of motor vehicle environment situation
As being truly presented to driver, to improve the security during automobile parking.
To realize the purpose, the present invention takes following technical scheme：
A kind of 3D panoramic parking assist systems that the present invention is provided, the system includes：Camera input module,
Image correction module, tripleplane's module, image mosaic module and image display.
1) the camera input module, the image for gathering peripheral vehicle situation in real time；
Four fish-eye cameras are respectively arranged in car body all around on four direction, front camera and rear camera difference position
In the center after Chinese herbaceous peony, left and right camera is located at the side to the front at car both sides center respectively；
Because the size of all kinds of vehicles is different, therefore the angle that camera is installed should be also adjusted accordingly by vehicle body.
Coordinate system is set, respectively using each video camera as origin, crossing origin, upward straight line is Z axis perpendicular to the ground, excessively former
The straight line of the vertical vehicle body major axis center of point and vertical Z axle is X-axis, and the straight line for crossing the vertical X of origin and Z axis is set to Y-axis,
For convenience of description, original state is set to camera optical axis and overlapped with Z axis, and the rotation of camera intrinsic Y-axis makes the visual field
At least 8 meters of coverage distance vehicle body, video camera rotates about the z axis enables the image around vehicle body to be presented on image
Intermediate region；
2) described image correction module, for correcting anamorphose and distortion；
Fish eye lens is a kind of special lens of ultra-wide angle, and its focal length is extremely short and visual angle can reach 180 degree,
Fish eye lens can realize closely big visual field, but be also introduced into very serious anamorphose simultaneously.Anamorphose
Main cause be that fish-eye real imaging surface is not plane, but be similar to spherical curved surface.
In addition, also there is fish-eye distortion, the light sent by picture point is reflected through fish eye lens lens
Afterwards, optical parallax existing between formed picture point on ideal image point and video camera actual imaging face.
Therefore, it need to be allowed to meet the imaging model of common camera by correcting deformed and distortion, could be applicable
Operated in follow-up stereoscopic vision；
Fish eye lenses correction uses the most frequently used equidistant projection model, and distortion correction is used on coordinate offset influence most
Big radial distortion model.Through deriving, the coordinate (x with the coordinate that deforms and distortu, yu), distortion coordinate (xd, yd),
It is as follows with (x, y) coordinate relation after correction：
Wherein, f is focal length, k1, k2, k3, k4For distortion factor.
To solve above parameter, (x, y) and 3 d space coordinate point after stereoscopic model is corrected must be set up
(Xw, Yw, Zw) through deriving, stereoscopic model is as follows：
Wherein, s is scale factor, and [R T] is outer ginseng matrix, and R is 3x3 spin matrix, and T is 3x1 translation
Matrix.
Simultaneous calibration model and stereoscopic model, can obtain the coordinate points (x with the coordinate that deforms and distortu, yu) and
3 d space coordinate point (Xw, Yw, Zw) non-linear relation.
By shooting multigroup three-dimensional feature point, multigroup non-linear relation is obtained, three-dimensional re-projection error is set up most
Optimization method.
Wherein k is characterized a number,For the space three-dimensional point coordinates of ith feature point,For the estimation space three-dimensional point coordinate of ith feature point, i.e., tried to achieve by non-linear relation.
The Nonlinear Optimization Problem is solved using ant colony optimization algorithm, optimal solution f, k can be tried to achieve1, k2, k3, k4。
Thus, the deformation of calibration model recoverable fish eye lens and pattern distortion are passed through；
3) tripleplane's module, for image after the correction of four direction video cameras to be projected into three-dimensional song respectively
On face；
According to the setting angle of video camera and position, relation of the picture point to three dimensions after correction is calculated；Through pushing away
Lead, relational expression is as follows：
Wherein s ' is scale factor, and r is that, around the X-axis anglec of rotation, b is that, around the Y-axis anglec of rotation, a is to rotate about the z axis
Angle, h is camera setting height(from bottom), cr, sr, cb, sb, ca, and sa is respectively cos (r), sin (r), cos (b), sin (b),
Cos's (a), sin (a) writes a Chinese character in simplified form.
It is only relevant with image scaling because s ' is scale factor, to simplify process, it can omit, by subsequently splicing
Process is operated.Then formula is changed into：
Wherein P is 3x4 projection matrix.
Due to vehicle body, nearby environment is generally ground, and remote environment is generally the object and building being above the ground level, and is
Scalloping is deformed small and different zones image draws the harmony stretched good, the class for setting curvature transition soft
Three-dimensional surface model like " barrel-shaped " is more reasonable；The vertical point to ground is origin centered on vehicle body,
The curve for generating three-dimensional surface model can be divided into three sections, first paragraph is ground linearity sector, and second segment is transition
Curve area, the 3rd section is the curve area highly steeply risen, can be set according to below equation：
Wherein, f1, f2, f3Three sections of curvilinear functions of difference, R is the distance apart from origin, reg1, reg2For three songs
Line region segmentation point, a2, b2, c2, a3, b3For function coefficients, to make transition round and smooth, set curve should be can
Lead curve, should meet：
Image after the correction of four direction video cameras is projected on three-dimension curved surface respectively using projection matrix；
4) described image concatenation module, for the image mosaic of four cameras collections in an image, to be given birth to
Into 3D panorama sketch；
Grid line is laid on vehicle's surroundings ground, to the grid line of overlay region registration, wherein only comprising image scaling and
Rotation translation.Therefore registration can be carried out by asking for affine matrix.Formula is as follows：
Wherein, xi, yi, xj, yjFor the point of adjacent two images overlay region, h11, h12, h13, h21, h22, h23For affine square
Battle array parameter, H is affine matrix.
It is as follows by multiple overlapping simultaneous equations：
Indeterminate equation is solved by singular value decomposition method, affine matrix H can be tried to achieve.
Four affine matrixs can be obtained altogether using four direction camera reviews, if using one of image as reference,
We only need to three affine matrixs, you can make all directions image mosaic in one image.It can select at random
Wherein three are taken, or sets up two-dimentional re-projection error and minimizes function, choose wherein error minimum three imitate
Penetrate matrix.
For four direction camera review brightness disproportionation weighing apparatus problems, three passages of all directions image can be made respectively
Solved with algorithm of histogram equalization, specific formula is as follows：
Wherein T (k) is the gray value corresponding to k-th of gray level, and k is the gray level between 0 to 255, and n is figure
As pixel sum, niThe number for being i for gray level in image.
For overlay region brightness it is inconsistent the problem of, can to it is overlapping differentiation block processing brightness problem, can be by following step
It is rapid to solve：
The first step：The area size of overlay region is divided into some sub-piecemeals；
Second step：RGB image triple channel is averaged as luminance picture L, i.e.,：
3rd step：The gain coefficient of each sub-piecemeal is obtained, specific formula is as follows：
Wherein, GI, x, y, GJ, x, yThe gain coefficient of respectively adjacent image i, j overlay region sub-piecemeal pixel (x, y).
LI, x, y, LJ, x, yThe mean flow rate of difference adjacent brightness image i, j overlay region sub-piecemeal；
4th step：The gain coefficient of the smooth overlay region sub-piecemeal of gaussian filtering, gain coefficient is after obtaining smoothly
HI, x, y, HJ, x, y。
5th step：The RGB triple channels pixel of each sub-piecemeal of overlay region after then merging is adjacent when not merging
Image respective pixel point is multiplied by gain coefficient HI, x, y, HJ, x, yAverage value afterwards.
The splicing mark problem existed to overlay region, from respective frontier distance ratio can be used as power according to pixel
Value, splicing vestige is eliminated using weighted mean method, and specific formula is as follows：
Wherein, L (x, y) is the image coordinate of 3D panorama sketch overlay region, I1(x, y) and I2(x, y) is respectively neighbor map
The image coordinate of the overlay region of picture,It is (x, y) pixel from overlay region frontier distance ratio.
After these processing, final 3D panorama sketch is generated；
5) described image display module, for showing 3D panorama sketch；By 3D panorama sketch it is properly scaling after, output
To display device, display device can be conformable display or LCDs.
The beneficial effect that the technical scheme that the present invention is provided is brought is：
A kind of 3D panoramic parking assist systems that the present invention is provided, can essence using equidistant projection and radial distortion model
Really correcting deformed and distortion, makes generation 3D panorama sketch truer；Based on actual conditions, similar " barrel-shaped " is set
Three-dimension curved surface projection, make curved surface connection it is soft, distorting for image in kind is small.Using histogram equalization
Change method makes all directions brightness of image unified, makes overlay region brightness with piecemeal brightness processed and weighted average method
Unanimously, transition is soft, realizes seamless connection.The overall good visual effect of the system generation 3D panorama sketch, very
Real reduction surrounding environment, reduces risk of parking.
Brief description of the drawings
Fig. 1 is the integral module FB(flow block) of present system；
Fig. 2 is the software flow block diagram of system；
The installation site and camera coverage schematic diagram of four cameras of the Fig. 3 for the present invention in embodiment；
Fig. 4 generates the curve map of threedimensional model for the present invention in embodiment.
Embodiment
To make purpose, the technical scheme of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described
Embodiment be a part of embodiment of the invention, rather than whole embodiment.Based on the implementation in the present invention
Example, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Fig. 1 is to be sequentially connected between the flow chart of the allomeric function module of the present invention, modules, figure therein
As correction module, tripleplane's module, image mosaic module are all that its function is realized by software algorithm.Fig. 2
Show the software flow block diagram of the system.
Fig. 3 is the installation site and camera coverage schematic diagram of four cameras of the invention in embodiment, four
Individual fish-eye camera 110,120,130 and 140 be respectively arranged in before below logo, below trunk handle,
Below two rearview mirrors, the region photographed is respectively 110a, 120a, 130a and 140a.All around
All around 8 meters of coverage at least coverage distance vehicle body.
Processor receives the view data of four camera acquisitions, and 3D is exported using a whole set of image processing techniques
Panorama sketch, driver is presented to using display device.
Specifically, the processing procedure that processor gathers image to four video cameras at least comprises the following steps.
Step one：Processor receives the view data of four camera acquisitions；
Step 2：Using equidistant projection and the correction four direction anamorphose of radial distortion model and distortion；
Step 3：According to the setting angle of video camera and position, the projection matrix of four direction image is calculated, if
The three-dimensional surface model of curvature transition soft similar " barrel-shaped " is put, is projected image onto using projection matrix
Three-dimension curved surface；
Step 4：By means of the grid line being laid on vehicle's surroundings ground, to the grid line registration of overlay region,
Three affine matrixs are solved, make all directions image mosaic in one image；For all directions brightness of image
Three passages of all directions image are used algorithm of histogram equalization respectively, eliminate each side by unbalanced problem
There is the inconsistent phenomenon of brightness to image；The problem of inconsistent to the pixel brightness of overlapping region, use
The processing of piecemeal brightness processed method；The splicing mark problem existed to overlay region, according to pixel from respective
Frontier distance ratio eliminates splicing vestige, so that it is complete to generate final 3D as weights using weighted mean method
Jing Tu；
Step 5：3D panorama sketch is exported to display device after properly scaling.
Above-mentioned steps three, the three-dimensional surface model of similar " barrel-shaped " mentioned, its curve map is as shown in Figure 4.
201 be first paragraph ground linearity sector, and 202 be second segment easement curve area, and 203 be that the 3rd section of height steeply rises
Curve area.Due to vehicle body, nearby environment is generally ground, and remote environment is generally the object being above the ground level and built
Thing is built, therefore such a harmony for setting small and different zones the image drawing of scalloping deformation to stretch is good.
3D panoramic parking assist systems can realize the Lothrus apterus co-ordination with original in-vehicle electronic system.So,
When driver starts to park, display device can automatically switch to 3D panoramic parking assist systems.And driver
The 3D panorama sketch of display device only need to be observed, and correctly manipulates automobile, you can ensures safety of parking.
In summary, the present invention combines a variety of machine vision and the Processing Algorithm of Digital Image Processing, merges
The multinomial advanced technology of field of machine vision, makes automobile parking process have higher security.
Although description of this invention combination embodiments above is carried out, it is familiar with the art
Personnel many replacements, modifications and variations can be carried out according to above-mentioned content, are obvious.Therefore,
All such replacements, improvement and change are all regarded as not unconventional initiative spirit of the invention.
Claims (1)
1. a kind of 3D panoramic parking assist systems, it is characterised in that including at least following module：
The camera input module inputted for image；
Processing module for image rectification；
Processing module for tripleplane；
Processing module for image mosaic；
The module shown for image.
A kind of described 3D panoramic parking assist systems, specific works step is as follows：
1) four fish-eye cameras are respectively arranged in car body all around on four direction, front camera and rear camera is located at the center after Chinese herbaceous peony respectively, left and right camera is located at the side to the front at car both sides center respectively；
The angle that camera is installed should be also adjusted accordingly by vehicle body.Set coordinate system, respectively using each video camera as origin, crossing origin, upward straight line is Z axis perpendicular to the ground, the straight line for crossing the vertical vehicle body major axis center of origin and vertical Z axle is X-axis, the straight line for crossing the vertical X of origin and Z axis is set to Y-axis, for convenience of description, and original state is set to camera optical axis and overlapped with Z axis, the rotation of camera intrinsic Y-axis makes at least 8 meters of visual field coverage distance vehicle body, and video camera rotates the intermediate region for enabling the image around vehicle body to be presented on image about the z axis；
2) using equidistant projection and the direction camera review deformation of radial distortion model correction four and distortion；
3) according to the setting angle of video camera and position, the projection matrix of four direction image is calculated, the three-dimensional surface model of curvature transition soft similar " barrel-shaped " is set, three-dimension curved surface is projected image onto using projection matrix；
4) by means of the grid line being laid on vehicle's surroundings ground, to the grid line registration of overlay region, three affine matrixs is solved, make all directions image mosaic in one image；For the unbalanced problem of all directions brightness of image, algorithm of histogram equalization is used to three passages of all directions image respectively；The problem of inconsistent to the pixel brightness of overlapping region, handled using piecemeal brightness processed method；The splicing mark problem existed to overlay region, splicing vestige is eliminated, so as to generate final 3D panorama sketch according to pixel as weights from respective frontier distance ratio using weighted mean method；
5) 3D panorama sketch is exported to display device after properly scaling.
The 3D panoramic parking assist systems are setting angle and position according to video camera to calculate projection matrix, and three-dimension curved surface is projected image onto with projection matrix.Projection matrix is as follows：
Wherein, r, b, a is respectively that, around X-axis, Y-axis, the anglec of rotation of Z axis, h is camera setting height(from bottom), cr, sr, cb, sb, ca, sa are respectively cos (r), sin (r), cos (b), sin's (b), cos (a), sin (a) writes a Chinese character in simplified form.
Wherein three-dimensional surface model presses following function setup：
Wherein, f1, f2, f3Three sections of curvilinear functions of difference, R is the distance apart from origin, reg1, reg2For three curve regions cut-points, a2, b2, c2, a3, b3For function coefficients, to make transition round and smooth, set curve should be can lead curve, should meet：
。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610054644.8A CN106994936A (en) | 2016-01-22 | 2016-01-22 | A kind of 3D panoramic parking assist systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610054644.8A CN106994936A (en) | 2016-01-22 | 2016-01-22 | A kind of 3D panoramic parking assist systems |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106994936A true CN106994936A (en) | 2017-08-01 |
Family
ID=59428455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610054644.8A Pending CN106994936A (en) | 2016-01-22 | 2016-01-22 | A kind of 3D panoramic parking assist systems |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106994936A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107888894A (en) * | 2017-10-12 | 2018-04-06 | 浙江零跑科技有限公司 | A kind of solid is vehicle-mounted to look around method, system and vehicle-mounted control device |
| CN110182202A (en) * | 2019-06-11 | 2019-08-30 | 安徽中天保安服务集团有限公司 | A kind of auxiliary intelligent parking system |
| CN110378836A (en) * | 2018-04-12 | 2019-10-25 | 玛泽森创新有限公司 | Obtain method, system and the equipment of the 3D information of object |
| CN110874817A (en) * | 2018-08-29 | 2020-03-10 | 上海商汤智能科技有限公司 | Image stitching method and device, vehicle-mounted image processing device, electronic equipment and storage medium |
| CN111095921A (en) * | 2017-09-20 | 2020-05-01 | 爱信精机株式会社 | Display control device |
| CN111243034A (en) * | 2020-01-17 | 2020-06-05 | 广州市晶华精密光学股份有限公司 | Panoramic auxiliary parking calibration method, device, equipment and storage medium |
| CN111696030A (en) * | 2020-05-29 | 2020-09-22 | 同致电子科技（厦门）有限公司 | Splicing fusion method for improving dislocation of 3D AVM splicing position |
| CN111845713A (en) * | 2019-04-26 | 2020-10-30 | 东莞潜星电子科技有限公司 | Parking route planning method based on vehicle-mounted 3D panoramic looking around |
| CN111968184A (en) * | 2020-08-24 | 2020-11-20 | 北京茵沃汽车科技有限公司 | Method, device and medium for realizing view follow-up in panoramic looking-around system |
| CN112277806A (en) * | 2020-11-24 | 2021-01-29 | 广州市车智连电子有限公司 | Panoramic parking image system |
| TWI735930B (en) * | 2019-08-12 | 2021-08-11 | 曾威順 | Panoramic parking-assistance system, panoramic parking-assistance method and device using the same |
| WO2022002049A1 (en) * | 2020-06-29 | 2022-01-06 | 广州橙行智动汽车科技有限公司 | Three-dimensional parking-based interactive method and vehicle |
| CN114897684A (en) * | 2022-04-25 | 2022-08-12 | 深圳信路通智能技术有限公司 | Vehicle image splicing method and device, computer equipment and storage medium |
| CN118555499A (en) * | 2024-07-29 | 2024-08-27 | 比亚迪股份有限公司 | Image processing method, apparatus, device, medium, vehicle, and program product |
-
2016
- 2016-01-22 CN CN201610054644.8A patent/CN106994936A/en active Pending
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111095921A (en) * | 2017-09-20 | 2020-05-01 | 爱信精机株式会社 | Display control device |
| CN111095921B (en) * | 2017-09-20 | 2021-06-08 | 爱信精机株式会社 | Display control device |
| CN107888894A (en) * | 2017-10-12 | 2018-04-06 | 浙江零跑科技有限公司 | A kind of solid is vehicle-mounted to look around method, system and vehicle-mounted control device |
| CN107888894B (en) * | 2017-10-12 | 2019-11-05 | 浙江零跑科技有限公司 | A kind of solid is vehicle-mounted to look around method, system and vehicle-mounted control device |
| CN110378836A (en) * | 2018-04-12 | 2019-10-25 | 玛泽森创新有限公司 | Obtain method, system and the equipment of the 3D information of object |
| CN110378836B (en) * | 2018-04-12 | 2021-09-24 | 玛泽森创新有限公司 | Method, system and equipment for acquiring 3D information of object |
| CN110874817B (en) * | 2018-08-29 | 2022-02-01 | 上海商汤智能科技有限公司 | Image stitching method and device, vehicle-mounted image processing device, equipment and medium |
| CN110874817A (en) * | 2018-08-29 | 2020-03-10 | 上海商汤智能科技有限公司 | Image stitching method and device, vehicle-mounted image processing device, electronic equipment and storage medium |
| CN111845713A (en) * | 2019-04-26 | 2020-10-30 | 东莞潜星电子科技有限公司 | Parking route planning method based on vehicle-mounted 3D panoramic looking around |
| CN110182202B (en) * | 2019-06-11 | 2021-01-26 | 安徽中天保安服务集团有限公司 | Auxiliary intelligent parking system |
| CN110182202A (en) * | 2019-06-11 | 2019-08-30 | 安徽中天保安服务集团有限公司 | A kind of auxiliary intelligent parking system |
| TWI735930B (en) * | 2019-08-12 | 2021-08-11 | 曾威順 | Panoramic parking-assistance system, panoramic parking-assistance method and device using the same |
| CN111243034A (en) * | 2020-01-17 | 2020-06-05 | 广州市晶华精密光学股份有限公司 | Panoramic auxiliary parking calibration method, device, equipment and storage medium |
| CN111696030A (en) * | 2020-05-29 | 2020-09-22 | 同致电子科技（厦门）有限公司 | Splicing fusion method for improving dislocation of 3D AVM splicing position |
| WO2022002049A1 (en) * | 2020-06-29 | 2022-01-06 | 广州橙行智动汽车科技有限公司 | Three-dimensional parking-based interactive method and vehicle |
| CN111968184A (en) * | 2020-08-24 | 2020-11-20 | 北京茵沃汽车科技有限公司 | Method, device and medium for realizing view follow-up in panoramic looking-around system |
| CN111968184B (en) * | 2020-08-24 | 2024-04-02 | 北京茵沃汽车科技有限公司 | Method, device and medium for realizing view follow-up in panoramic looking-around system |
| CN112277806A (en) * | 2020-11-24 | 2021-01-29 | 广州市车智连电子有限公司 | Panoramic parking image system |
| CN114897684A (en) * | 2022-04-25 | 2022-08-12 | 深圳信路通智能技术有限公司 | Vehicle image splicing method and device, computer equipment and storage medium |
| CN118555499A (en) * | 2024-07-29 | 2024-08-27 | 比亚迪股份有限公司 | Image processing method, apparatus, device, medium, vehicle, and program product |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106994936A (en) | A kind of 3D panoramic parking assist systems | |
| CN103177439B (en) | A kind of automatic calibration method based on black and white lattice corners Matching | |
| CN104512328B (en) | Automobile looks around image generating method and automobile viewing system | |
| CN104851076B (en) | Panoramic looking-around parking assisting system and camera installation method for commercial car | |
| JP5739584B2 (en) | 3D image synthesizing apparatus and method for visualizing vehicle periphery | |
| CN108263283A (en) | More marshalling varied angle vehicle panoramic viewing system calibration and joining method | |
| CN102045546B (en) | Panoramic parking assist system | |
| CN105825475B (en) | 360 degree of full-view image generation methods based on single camera | |
| CN108765496A (en) | A kind of multiple views automobile looks around DAS (Driver Assistant System) and method | |
| CN106408511A (en) | Overlook conversion method, overlook image acquisition method and mapping table construction method of fisheye image | |
| CN109087251B (en) | Vehicle-mounted panoramic image display method and system | |
| CN105354796B (en) | Image processing method and system for auxiliary of driving a vehicle | |
| CN107424120A (en) | A kind of image split-joint method in panoramic looking-around system | |
| CN107993263A (en) | Viewing system automatic calibration method, automobile, caliberating device and storage medium | |
| CN106101635A (en) | Vehicle surrounding image processing method and device | |
| CN113362228A (en) | Method and system for splicing panoramic images based on improved distortion correction and mark splicing | |
| CN111559314A (en) | Depth and image information fused 3D enhanced panoramic looking-around system and implementation method | |
| CN105321160A (en) | Multi-camera calibration method for 3D panoramic parking | |
| CN111768332A (en) | Splicing method of vehicle-mounted all-around real-time 3D panoramic image and image acquisition device | |
| CN113658262A (en) | Camera external parameter calibration method, device, system and storage medium | |
| CN116245722A (en) | Panoramic image stitching system and method applied to heavy high-speed vehicle | |
| CN116229426B (en) | Unmanned parking space detection method based on panoramic all-around image | |
| CN111860270B (en) | Obstacle detection method and device based on fisheye camera | |
| CN206436911U (en) | Panorama reverse image processing unit | |
| CN108665501A (en) | Automobile viewing system three-dimensional scaling scene and the scaling method for using the scene |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170801 |
|
| WD01 | Invention patent application deemed withdrawn after publication |