CN117710517A - Parking track line drawing method, system and vehicle - Google Patents
Parking track line drawing method, system and vehicle Download PDFInfo
- Publication number
- CN117710517A CN117710517A CN202311525891.8A CN202311525891A CN117710517A CN 117710517 A CN117710517 A CN 117710517A CN 202311525891 A CN202311525891 A CN 202311525891A CN 117710517 A CN117710517 A CN 117710517A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- panoramic
- track
- view
- wheel
- 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
- 238000000034 method Methods 0.000 title claims abstract description 36
- 239000011159 matrix material Substances 0.000 claims abstract description 35
- 238000003384 imaging method Methods 0.000 claims description 14
- 238000013507 mapping Methods 0.000 claims description 5
- 238000010606 normalization Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Image Processing (AREA)
Abstract
The invention provides a method and a system for drawing a parking track line and a vehicle, and belongs to the field of vehicle-mounted panoramic image systems and algorithms. The method comprises the following steps: calibrating vehicle parameters; solving a homography matrix between the panoramic view and the corresponding single view according to the panoramic view and the corresponding single view; and acquiring the angle of the steering wheel, calculating the pixel coordinates of the track points in the image according to the track line formula and the homography matrix, and drawing the pixel coordinate connecting line of the track points into a track line. The method, the system and the vehicle for drawing the parking track line can acquire the steering wheel angle signal in real time, and the track line is continuously updated in real time through real-time calculation of an equation; the trajectory line is projected into the panoramic view and the single view through the homography matrix, and the trajectory line is more fit with the image.
Description
Technical Field
The invention belongs to the field of vehicle-mounted panoramic image systems and algorithms, and particularly relates to a method and a system for drawing a parking track line and a vehicle.
Background
Currently, in automobiles equipped with panoramic image systems or reverse image systems at home and abroad, in order to assist drivers in finding the driving track of the automobile and determining the distance of an obstacle, the track line is usually superimposed on the panoramic image system in a panoramic view and a single view (front view and rear view), and most of the track lines are static track lines.
The static trace lines have the following defects:
1) The travel track cannot be predicted: the static track line simply draws a safety frame with a fixed range outwards along the vehicle body, and the running track of the vehicle cannot be predicted.
2) Display effect defect: some of the trajectories are superimposed into the view by way of mapping, which would allow the driver to think that the trajectories are not in the same layer as the view, and the feeling that the trajectories float on the ground occurs.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provide a real-time dynamic parking trajectory drawing method, a system and a vehicle.
The invention is realized by the following technical scheme:
in a first aspect of the present invention, there is provided a method of drawing a parking trajectory, the method comprising:
calibrating vehicle parameters;
solving a homography matrix between the panoramic view and the corresponding single view according to the panoramic view and the corresponding single view;
and acquiring the angle of the steering wheel, calculating the pixel coordinates of the track points in the panoramic view or the single view according to the track line formula and the homography matrix, and drawing the pixel coordinate connecting line of the track points into a track line.
Preferably, the operation of calibrating the vehicle parameters includes:
acquiring the actual length and width of a vehicle, and the wheelbase and the wheel tread;
respectively measuring pixels occupied by the length and the width of the vehicle model in the panorama;
the longitudinal proportionality coefficient is obtained by comparing the actual vehicle length of the vehicle with the pixels of the vehicle model length in the panorama, and the transverse proportionality coefficient is obtained by comparing the actual vehicle width of the vehicle with the pixels of the vehicle model width in the panorama;
calculating the actual wheelbase and the pixels occupied by the wheelbase of the vehicle in the vehicle model in the panorama by the proportionality coefficient: wheel base of vehicle model = actual wheel base/longitudinal scaling factor, wheel base of vehicle model = actual wheel base/lateral scaling factor.
Preferably, the operation of solving the homography matrix between the panoramic view and the corresponding single view comprises:
arranging a calibration checkerboard around a vehicle to obtain a de-distortion single view and a panoramic view;
finding common checkerboard corner points in the panoramic view and the undistorted single view, and respectively recording pixel coordinates of the corner points in the panoramic view and the undistorted single view;
and calculating according to the corner coordinates in the panoramic view and the corner coordinates in the undistorted single view to obtain a homography matrix.
Preferably, the number of the corner points is 4 or more.
Preferably, the operation of obtaining the steering wheel angle includes:
acquiring the actual angle of the steering wheel, namely the steering wheel angle in real time;
the wheel angle is calculated using: wheel angle = steering wheel angle/steering angle scaling factor.
Preferably, the operation of calculating pixel coordinates of the track points in the panorama or the single view according to the track line formula and the homography matrix and drawing the pixel coordinate connecting lines of the track points into the track line comprises the following steps:
substituting the wheel angle into a trajectory formula, calculating the trajectory coordinates of a series of panoramic pictures, and connecting the coordinate points to obtain the trajectory of the panoramic pictures;
and multiplying the track coordinates of the panoramic image by the homography matrix, then normalizing to calculate the track coordinates of the single view, and drawing and connecting the coordinate points in the single view to obtain the track line of the single view.
Preferably, the trajectory formula is as follows:
where l is the wheelbase of the vehicle model,the wheel angle is w is the wheel track of the vehicle model, v is the vehicle speed, and t is the time;
X left front Representing the X coordinate, Y of the left front wheel Left front Representing the Y coordinate, X of the left front wheel Front right Representing the X coordinate, Y of the right front wheel Front right The Y coordinate of the right front wheel;
X left rear part Representing the X coordinate, Y of the left rear wheel Left rear part Representing the Y coordinate, X of the left rear wheel Rear right Representing the X coordinate, Y of the right rear wheel Rear right Representing the Y coordinate of the right rear wheel.
Preferably, the track coordinates of the panorama are used for multiplying the homography matrix, and the process of the renormalization is as follows:
equation 1
Equation 2
Wherein u is 0 、v 0 The track coordinates of the panoramic view are the track coordinates of the single view;
H11.H 33 is homography matrix parameters; x, y, z are intermediate quantities;
according to formula 1, obtaining intermediate quantities x, y and z by utilizing a track coordinate left-multiplying homography matrix of the panoramic image, and obtaining track coordinates of the single view by utilizing formula 2 to perform normalization processing according to the x, y and z.
In a second aspect of the present invention, there is provided a panoramic imaging system storing at least one program which, when executed, causes the panoramic imaging system to perform the steps in the parking trajectory drawing method as described above.
In a third aspect of the present invention, a vehicle is provided, including the panoramic image system described above, where the panoramic image system includes a panoramic image system program; the panoramic imaging system, when activated, causes the panoramic imaging system program to perform the steps in the parking trajectory mapping method as described above.
Compared with the prior art, the invention has the beneficial effects that:
1. the track line is dynamic, the dynamic track line is related to the steering wheel angle and the wheel angle of the vehicle, and the track line can be correspondingly bent in the process of steering wheel rotation, so that the running track of the vehicle can be accurately predicted, and the driving experience of a driver is improved.
2. The accuracy of the track line is improved, the track line is continuously updated in real time through real-time calculation of an equation by reading the angle signal of the steering wheel in real time, and the track line can correspondingly change and immediately display a new track line as long as the steering wheel slightly rotates.
3. Through the homography matrix, the track line is projected into the single view by combining the homography matrix on the basis of the track line formula of the panoramic view, the track line is more attached to the image, and the visual effect is better.
Drawings
FIG. 1 is a flow chart of parameter calibration in a method for drawing a parking trajectory line provided by the invention;
FIG. 2 is a flow chart of trace drawing in the method for drawing a parking trace provided by the invention;
fig. 3 is a homography matrix projection effect diagram in the method for drawing the parking trajectory line.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures:
the invention mainly provides a method for drawing a real-time dynamic parking track line based on a homography matrix, which comprises the following steps: acquiring information parameters such as actual wheelbase and wheelbase of a vehicle, and calculating wheelbase and wheelbase parameters of a vehicle model according to the proportional relation between the actual size of the vehicle and pixels of the vehicle model in a panoramic view; solving a homography matrix between the panoramic view and the corresponding single view (front single view and rear single view) according to the panoramic view and the corresponding single view; inputting the parameters and homography matrix calculated in the previous two steps into a panoramic image system program; after receiving a starting instruction (D-grade or R-grade) from a vehicle, activating a panoramic image system according to the starting instruction to acquire a panoramic image and a corresponding single view (the D-grade is a front view, and the R-grade is a rear view); in the running process of the vehicle, a steering wheel angle signal is obtained in real time through a CAN (controller area network) network (Controller Area Network), and an actual wheel angle (hereinafter referred to as a wheel angle) is calculated according to the transmission proportion relation between the steering wheel angle and the wheel angle; and the panoramic image system program calculates pixel coordinates of the track points in the image according to a track line formula and a homography matrix, draws a line connecting the pixel coordinates of the track points into a track line, and outputs a panoramic image and a single view with dynamic track lines.
The panoramic image system comprises 4 fisheye cameras and a panoramic image system program, and the undistorted single view and the panoramic image are obtained after the pictures shot by the 4 fisheye cameras at the same moment are read and processed; checking the peripheral condition of the vehicle body is convenient for the vehicle owner to drive and park, and avoids the inconvenience brought to the vehicle owner by blind areas.
The panoramic view is equivalent to a top view, 4 single views are fused together, and the surrounding environment of the vehicle can be seen; the single view is a picture shot by 1 fish-eye camera, the angles of the two pictures are different, and the same object is observed differently under the two angles respectively.
The trajectory formula is drawn under two-dimensional coordinates, the panoramic view is similar to the view from high to low, and the objects are all in a two-dimensional plane, so that the trajectory formula is directly used for drawing the trajectory in the panoramic view, and the panoramic view can be very fit; however, in the single view photograph, a three-dimensional space is seen, so that the trace cannot be simply drawn by using a trace formula, the drawn trace is also inaccurate, and a homography matrix is combined on the trace formula of the panorama to draw a more fitting trace in the single view.
In one embodiment of the present invention, as shown in fig. 1 and 2, the process is as follows:
1) And (3) calibrating vehicle parameters: the method comprises the steps of obtaining actual whole vehicle information of a vehicle, mainly comprising the length, the width, the wheelbase and the wheelbase. And measuring the size of pixels occupied by the vehicle model in the panorama, and respectively measuring the length and the width of the vehicle model in the panorama (the image information of the vehicle model can be obtained by checking the image information of the vehicle model on a computer). A longitudinal scaling factor is obtained by comparing the actual vehicle length with the pixels of the vehicle model length in the panorama, and a transverse scaling factor is obtained by comparing the actual vehicle width with the pixels of the vehicle model width in the panorama. The pixel size occupied by the actual wheelbase and the wheel track of the vehicle in the vehicle model in the panorama can be calculated through the proportionality coefficient: actual wheelbase/longitudinal scaling factor = wheelbase of the vehicle model, actual wheelbase/lateral scaling factor = wheelbase of the vehicle model. The calculated wheelbase and wheelbase parameters of the vehicle model, namely vehicle parameters, are used for inputting a track line formula to calculate and obtain a track line.
2) And (3) calibrating a homography matrix: arranging a calibration checkerboard around the vehicle to obtain a panoramic view and a undistorted single view of the scene (the undistorted method is known, for example, a distortion model proposed by Kannala-Brandt can be utilized); finding common checkerboard corner points in the two pictures, namely obvious boundary points between the checkerboards, respectively recording pixel coordinates of the corner points in the panoramic picture and the undistorted single view (minimum 4 corner point coordinates are needed, so long as the corner points are simultaneously present in the panoramic picture and the single view, the corner points can be found by using a function in OpenCV and the found corner points are drawn on the picture, and finally printing to obtain the pixel coordinates of the corner points); the required homography matrix H can be calculated by inputting the corner coordinates of the panorama and the corner coordinates of the undistorted single view into the findwomograph function (homography function) of OpenCV (all Open Source Computer Vision Library, cross-platform computer vision library). The homography matrix may be used to project a view from one viewing angle to another, the effect of which is shown in fig. 3.
3) And inputting the vehicle parameters and the homography matrix calculated in the previous two steps into a panoramic image system program. When the vehicle-mounted panoramic image system is activated, acquiring a panoramic view and a corresponding single view of the vehicle, wherein the panoramic view and the single view have no track; and judging whether the current gear of the vehicle is a D gear or an R gear (the current gear of the vehicle CAN be read through a CAN network, the D gear corresponds to a front view, the R gear corresponds to a rear view), and if the current gear is not the D gear or the R gear, directly outputting a panoramic view and a single view of the trackless trace on a vehicle machine screen.
4) When the vehicle is in D gear or R gear, the actual angle (namely the steering wheel angle) of the steering wheel is read in real time through a CAN network, a linear relation exists between the wheel angle and the steering wheel angle, the steering wheel angle CAN be calculated, the steering wheel angle/rotation angle ratio coefficient = the wheel angle, and the rotation angle ratio coefficient CAN be obtained from a vehicle information table; substituting the wheel angle parameters into a trajectory formula (the D grade corresponds to the trajectory of the two front wheels and the R grade corresponds to the trajectory of the two rear wheels), calculating pixel coordinates of a series of trajectory points (the place to be driven by the wheels) in the panorama, connecting the coordinate points to obtain the trajectory of the panorama, and outputting the panorama with the dynamic trajectory by a vehicle screen.
D-gear shows the trajectory of the two front wheels, corresponding trajectory formula:
r gear shows the trajectory of the two rear wheels, corresponding trajectory formula:
wherein, l is the wheelbase,the wheel angle, w is the wheel track, v is the vehicle speed, and t is the time;
X left front Representing the X coordinate, Y of the left front wheel Left front Representing the Y coordinate, X of the left front wheel Front right Representing the X coordinate, Y of the right front wheel Front right The Y coordinate of the right front wheel;
X left rear part Representing the X coordinate, Y of the left rear wheel Left rear part Representing the Y coordinate, X of the left rear wheel Rear right Representing the X coordinate, Y of the right rear wheel Rear right Representing the Y coordinate of the right rear wheel.
5) On the basis of a trajectory formula of the panoramic view, the trajectory coordinates (pixel coordinates of the trajectory points in the panoramic view) of the panoramic view are multiplied by the homography matrix, the trajectory coordinates (pixel coordinates of the trajectory points in the single view) of the single view can be calculated through normalization processing, the trajectory points are drawn and connected in the single view, the trajectory of the single view can be obtained, and the screen of the vehicle machine outputs the single view with the dynamic trajectory.
Equation 1
Equation 2
Wherein u is 0 、v 0 Track coordinates of the panoramic image; u and v are track coordinates of a single view;
homography parameters H11. H33 are calculated by a findHomograph function;
x, y, z are intermediate quantities; equation 2 is the process of normalization, i.e
The homogeneous coordinates are introduced and the coordinate system,
the purpose of introducing homogeneous coordinates is mainly to combine multiplication and addition in matrix operations. Geometrically, this is equivalent to restricting the transformation occurring in three-dimensional space to a plane with z=1, since the pixel coordinates are two-dimensional, (x, y, z) are three-dimensional data, and x, y, z are divided by z at the same time, and the third term is 1, where u, v of equation 2 and u of equation 1 0 、v 0 Corresponding to the above.
In the existing dynamic track line, only a segmented steering wheel angle range is roughly defined, and when the steering wheel rotates beyond a certain range, the track line can be changed; the track line cannot change when the steering wheel rotates by a small angle, so that the accuracy of the track line is not high enough, and the judgment of a driver is affected. According to the invention, the angle signal of the steering wheel is read in real time through the CAN network of the vehicle, the track line is continuously updated in real time through the equation, and the track line CAN be correspondingly changed and a new track line is immediately displayed as long as the steering wheel slightly rotates.
In practical application, the invention can project the dynamic track line into a single view, so that the track line is more attached and accurate; the dynamic trajectory line can be directly drawn in the panoramic view, and the dynamic trajectory line can be well attached, and the accuracy of the maintenance is high.
The present invention also provides a panoramic image system storing at least one program which, when executed, causes the panoramic image system to perform the steps in the parking trajectory drawing method as described above.
The invention also provides a vehicle, which comprises the panoramic image system, wherein the panoramic image system comprises a panoramic image system program; the panoramic imaging system, when activated, causes the panoramic imaging system program to perform the steps in the parking trajectory mapping method as described above.
The foregoing technical solution is only one embodiment of the present invention, and various modifications and variations can be easily made by those skilled in the art based on the principles disclosed in the present invention, and are not limited to the technical solutions described in the foregoing specific examples of the present invention, therefore, the foregoing description is only preferred and not in any limiting sense.
Claims (10)
1. A method for drawing a parking track line is characterized by comprising the following steps of: the method comprises the following steps:
calibrating vehicle parameters;
solving a homography matrix between the panoramic view and the corresponding single view according to the panoramic view and the corresponding single view;
and acquiring the angle of the steering wheel, calculating the pixel coordinates of the track points in the panoramic view or the single view according to the track line formula and the homography matrix, and drawing the pixel coordinate connecting line of the track points into a track line.
2. The parking trajectory drawing method according to claim 1, characterized in that: the operation of calibrating the vehicle parameters comprises the following steps:
acquiring the actual length and width of a vehicle, and the wheelbase and the wheel tread;
respectively measuring pixels occupied by the length and the width of the vehicle model in the panorama;
the longitudinal proportionality coefficient is obtained by comparing the actual vehicle length of the vehicle with the pixels of the vehicle model length in the panorama, and the transverse proportionality coefficient is obtained by comparing the actual vehicle width of the vehicle with the pixels of the vehicle model width in the panorama;
calculating the actual wheelbase and the pixels occupied by the wheelbase of the vehicle in the vehicle model in the panorama by the proportionality coefficient: wheel base of vehicle model = actual wheel base/longitudinal scaling factor, wheel base of vehicle model = actual wheel base/lateral scaling factor.
3. The parking trajectory drawing method according to claim 2, characterized in that: from the panoramic view and the corresponding single view, the operation of solving the homography matrix between them includes:
arranging a calibration checkerboard around a vehicle to obtain a de-distortion single view and a panoramic view;
finding common checkerboard corner points in the panoramic view and the undistorted single view, and respectively recording pixel coordinates of the corner points in the panoramic view and the undistorted single view;
and calculating to obtain a homography matrix according to the corner coordinates in the panoramic view and the corner coordinates in the undistorted single view.
4. A parking trajectory drawing method according to claim 3, characterized in that: the number of the corner points is 4 or more than 4.
5. A parking trajectory drawing method according to claim 3, characterized in that: the operation of obtaining the steering wheel angle comprises the following steps:
acquiring the actual angle of the steering wheel, namely the steering wheel angle in real time;
the wheel angle is calculated using: wheel angle = steering wheel angle/steering angle scaling factor.
6. The parking trajectory drawing method according to claim 5, characterized in that: calculating pixel coordinates of the track points in the panoramic view or the single view according to the track line formula and the homography matrix, and drawing the pixel coordinate connecting lines of the track points into the track line comprises the following steps:
substituting the wheel angle into a trajectory formula, calculating the trajectory coordinates of a series of panoramic pictures, and connecting the coordinate points to obtain the trajectory of the panoramic pictures;
and multiplying the track coordinates of the panoramic image by the homography matrix, then normalizing to calculate the track coordinates of the single view, and drawing and connecting the coordinate points in the single view to obtain the track line of the single view.
7. The parking trajectory drawing method according to claim 6, characterized in that: the trajectory formula is as follows:
where l is the wheelbase of the vehicle model,the wheel angle is w is the wheel track of the vehicle model, v is the vehicle speed, and t is the time;
X left front Representing the X coordinate, Y of the left front wheel Left front Representing the Y coordinate, X of the left front wheel Front right Representing the X coordinate, Y of the right front wheel Front right The Y coordinate of the right front wheel;
X left rear part Representing the X coordinate, Y of the left rear wheel Left rear part Representing the Y coordinate, X of the left rear wheel Rear right Representing the X coordinate, Y of the right rear wheel Rear right Representing the Y coordinate of the right rear wheel.
8. The parking trajectory drawing method according to claim 7, characterized in that: the track coordinates of the panorama are used for multiplying the homography matrix, and the process of normalization processing is as follows:
equation 1
Equation 2
Wherein u is 0 、v 0 The track coordinates of the panoramic view are the track coordinates of the single view;
H11.H 33 is homography matrix parameters; x, y, z are intermediate quantities;
according to formula 1, obtaining intermediate quantities x, y and z by utilizing a track coordinate left-multiplying homography matrix of the panoramic image, and obtaining track coordinates of the single view by utilizing formula 2 to perform normalization processing according to the x, y and z.
9. A panoramic imaging system, wherein said panoramic imaging system stores at least one program that, when executed, causes said panoramic imaging system to perform the steps of the method of mapping a parking trajectory as set forth in any one of claims 1-8.
10. A vehicle comprising the panoramic imaging system of claim 9, the panoramic imaging system comprising a panoramic imaging system program; the panoramic imaging system, when activated, causes the panoramic imaging system program to perform the steps in the parking trajectory mapping method of any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311525891.8A CN117710517A (en) | 2023-11-15 | 2023-11-15 | Parking track line drawing method, system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311525891.8A CN117710517A (en) | 2023-11-15 | 2023-11-15 | Parking track line drawing method, system and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117710517A true CN117710517A (en) | 2024-03-15 |
Family
ID=90156028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311525891.8A Pending CN117710517A (en) | 2023-11-15 | 2023-11-15 | Parking track line drawing method, system and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117710517A (en) |
-
2023
- 2023-11-15 CN CN202311525891.8A patent/CN117710517A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10434945B2 (en) | Method and device for displaying an image of the surroundings of a vehicle combination | |
| JP4695167B2 (en) | Method and apparatus for correcting distortion and enhancing an image in a vehicle rear view system | |
| CN106573577B (en) | Display system and method | |
| CN112224132B (en) | Vehicle panoramic all-around obstacle early warning method | |
| CN107627959B (en) | Panoramic video monitoring method and system for motor vehicle | |
| CN202035096U (en) | Mobile operation monitoring system for mobile machine | |
| US20090179916A1 (en) | Method and apparatus for calibrating a video display overlay | |
| CN108909625B (en) | Vehicle bottom ground display method based on panoramic all-round viewing system | |
| CN112348741A (en) | Panoramic image splicing method, panoramic image splicing equipment, storage medium, display method and display system | |
| CN109345591B (en) | Vehicle posture detection method and device | |
| CN111626227B (en) | Implementation method of binocular vision-based vehicle bottom perspective panoramic system | |
| CN117710517A (en) | Parking track line drawing method, system and vehicle | |
| CN116486351A (en) | Driving early warning method, device, equipment and storage medium | |
| CN114872631A (en) | Method and system for realizing functions of transparent chassis | |
| CN114162048A (en) | System and method for ensuring safe driving of vehicle | |
| US20230406410A1 (en) | Method for displaying an environment of a vehicle having a coupled trailer, computer program, computing device and vehicle | |
| CN112698717B (en) | Local image processing method and device, vehicle-mounted system and storage medium | |
| US11832019B2 (en) | Method for harmonizing images acquired from non overlapping camera views | |
| KR20140088779A (en) | Rear Monitoring Apparatus and Method in Vehicle | |
| JP2003143597A (en) | Vehicle surrounding picture processor and recording medium | |
| TWI735930B (en) | Panoramic parking-assistance system, panoramic parking-assistance method and device using the same | |
| CN116118628A (en) | CMS visual field control method | |
| KR20240057357A (en) | Camera monitor system with angled awareness lines | |
| Chavan et al. | Three dimensional vision system around vehicle | |
| CN117830089A (en) | Method and device for generating looking-around spliced view, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |