The invention discloses a 360-degree panorama reversing image generation method based on a single camera. The method comprises the steps that the single camera is arranged on the tail of a car to receive the real-time picture behind the car; the real-time vehicle speed and the steering wheel rotation angle information of the car are acquired through a vehicle CAN bus protocol; the rotation center and the rotation angle of the image at the previous moment relative to the image at the current moment are calculated; the image at the previous moment is rotated and spliced with the image at the current moment to generate a 360-degree panorama reversing image; and during the reversing process of the car, the generated 360-degree panorama reversing image is continuously displayed on a display screen. The static environment in the reversing process of the car and the dynamic information which is photographed in real time and behind the car can be fed back to a driver to help the driver to effectively avoid obstacles which appear in the view blind spot at different times during the reversing process and assist the driver in safe reversing. According to the invention, the cost is effectively saved; the real-time picture information behind the car can be observed; and the static obstacle information in the blind area on the side of the car can be observed.

360-degree panorama reversing image generation method based on single camera

The invention relates to a three-dimensional driving environment imaging method and apparatus. The method comprises the steps of detecting feature points in a distorted image obtained by a fisheye camera, and calibrating the fisheye camera according to coordinates corresponding to the feature points to obtain a corrected image corresponding to the distorted image; determining a first matrix according to related parameters of the fisheye camera; determining a second matrix according to the first matrix and the coordinates of the feature points in the corrected image; performing perspective projection transform on the corrected image according to the second matrix to obtain a virtual image, corresponding to the corrected image, on a virtual imaging surface, and determining coordinates of the feature points on the virtual imaging surface; building a three-dimensional driving environment model; obtaining textures of the virtual image; and adhering the textures of the virtual image to the three-dimensional driving environment model according to the first matrix. According to the method and the apparatus, a three-dimensional scene around a vehicle body is real in display and good in three-dimensional effect, and the transition of a planar mapping and a three-dimensional mapping is natural.

Three-dimensional driving environment imaging method and apparatus

The invention provides a panorama imaging method and device based on a single camera The device comprises a camera, a distortion correction module, an image splicing and updating module, an image conversion module and an image processing module which are electrically connected in sequence A storage module is electrically connected with the image splicing and updating module According to the invention, only one camera is used, while four cameras are used in the prior art; and when the storage module receives a new global image, the storage module updates an old global image with the new global image, the updating speed is high, the storage space is saved, the operation efficiency is improved, and both the image around a vehicle and the image below the vehicle can be displayed, so that the car backing process is clearer, a driver can operate the vehicle more conveniently, the process is more safer, the car backing difficulty is simultaneously lowered for the driver, and the precision of the panorama car backing image is higher The panorama imaging method and device have the advantages that the structure is simple, the cost is low, the interference is small, the error is small, the usage is convenient, and the car backing safety coefficient is increased

Panorama imaging method and device based on single camera

The invention discloses a method and a device for positioning a lateral vehicle, wherein the lateral vehicle is accurately positioned The method comprises the following steps of converting an original image into a corrected image, wherein the original image is an image shot by an image acquisition device, and the corrected image is an image corresponding to the original image at the visual angleof a virtual camera; detecting wheel characteristics within the detection area of the corrected image, and obtaining the position of an sub-image including the wheel characteristics in the corrected image; detecting circle characteristics in the sub-image including the wheel characteristics, and obtaining a circle detection result, wherein the circle detection result comprises the position of thecircle center of the circle characteristics in the corrected mage and the radius of the circle characteristics; and obtaining the positioning information of the lateral vehicle according to the circledetection result

Method and device for positioning lateral vehicle, storage medium and program product

The invention provides a full-view horizon display method for displaying a picture at a vehicle bottom part, wherein the method includes steps of calculating a picture zone to be filled at the bottom part of an unshielded real-time vehicle body, and acquiring the full-view horizon display data with the picture at the vehicle bottom part; further setting that the frequency of the historical data of the peripheral picture of the vehicle body is more than or equal to the frequency of acquiring the current vehicle movement track; thus the picture at the vehicle bottom part is fully, timely and accurately displayed; the driver can more accurately judge and analyze the position and the road condition during the driving process of the vehicle.

Full-view horizon display method for displaying picture at vehicle bottom part

The invention discloses an omnidirectional imaging system based on a monocular camera, and an imaging method thereof, belonging to the technical field of automobile electronic. The omnidirectional imaging system includes an image acquisition device, wherein the image acquisition device is connected with an image conversion device; the image conversion device is connected with an image processing device; the image processing device is connected with an image display device; an image storage device is connected with the image processing device; and a vehicle detection device is connected with the image processing device. The imaging method includes the following steps: 1) acquiring fisheye images of the tail of a vehicle through a fisheye camera; converting the acquired fisheye images into back projection aerial images; and 3) acquiring the aerial images in the image conversion device, integrating the image of the current frame with the global image in the image storage device, and sending the integrated image to the image display device to display. The omnidirectional imaging system based on a monocular camera, and the imaging method thereof can generate an omnidirectional image by means of integration of the current image of the monocular rear-view camera and the global image, so that the generation cost is reduced and the operation efficiency is improved, and can be used in a vehicle.

Omnidirectional imaging system based on monocular camera, and imaging method thereof

The invention is applicable to the field of car monitoring, and provides a car look-around camera-based car monitoring method and system in a dead zone. The system comprises a look-around fisheye camera, a processor and a display, wherein the look-around camera is connected with the processor, and the processor is connected with the display in a bi-direction communication manner. By adopting the method and system, the safety potential hazard at the driving links such as lane changing and doubling of a car due to the insufficient of view field of a car rearview mirror and the dead zones of the visual observation always presenting at two sides of the car can be solved. The view angle difference caused by the imaging of the car at different positions in the dead zone can realize a relatively good detection effect; and meanwhile, the method and the system also have the advantages that a large area of dead zone can be detected, the detection result is more reliable, and the detection speed is relatively high.

Xu Qinjun

Papers

Omnidirectional imaging system based on monocular camera, and imaging method thereof

Car look-around camera-based car monitoring method and system in dead zone