Rear-stitched view panorama for rear-view visualization
First Claim
1. A rear-stitched view panorama (RSVP) system comprising:
- at least one processor; and
a memory storing software instructions that, when executed by the at least one processor, cause the RSVP system tocompute a disparity map for a left center rear image and a right center rear image, the left center rear image and the right center rear image captured by a stereo camera mounted on a rear of a vehicle;
transform a right rear image, a left rear image, a reference center rear image of the left center rear image and the right center rear image, and the disparity map to a virtual world view using virtual camera parameters, the right rear image captured by a right camera mounted on a right side of the vehicle and the left rear image captured by a left camera mounted on a left side of the vehicle;
compute an optimal left seam between the transformed left rear image and the transformed reference center rear image based on the transformed disparity map;
compute an optimal right seam between the transformed right rear image and the transformed reference center rear image based on the transformed disparity map; and
stitch the transformed left rear image and the transformed reference center rear image based on the optimal left seam and the transformed right rear image and the transformed reference center rear image based on the optimal right seam to generate a panorama.
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Accused Products
Abstract
A rear-stitched view panorama (RSVP) system is provided that includes at least one processor and a memory storing software instructions that, when executed by the least one processor, cause the RSVP system to compute a disparity map for a left center rear image and a right center rear image captured by a stereo camera mounted on a rear of a vehicle, transform a right rear image, a left rear image, a reference center rear image, and the disparity map to a virtual world view, the right rear image and left rear image captured by respective right and left cameras mounted on the vehicle, compute an optimal left seam and an optimal right seam based on the transformed disparity map, and stitch the transformed images based on respective optimal seams to generate a panorama.
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Citations
22 Claims
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1. A rear-stitched view panorama (RSVP) system comprising:
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at least one processor; and a memory storing software instructions that, when executed by the at least one processor, cause the RSVP system to compute a disparity map for a left center rear image and a right center rear image, the left center rear image and the right center rear image captured by a stereo camera mounted on a rear of a vehicle; transform a right rear image, a left rear image, a reference center rear image of the left center rear image and the right center rear image, and the disparity map to a virtual world view using virtual camera parameters, the right rear image captured by a right camera mounted on a right side of the vehicle and the left rear image captured by a left camera mounted on a left side of the vehicle; compute an optimal left seam between the transformed left rear image and the transformed reference center rear image based on the transformed disparity map; compute an optimal right seam between the transformed right rear image and the transformed reference center rear image based on the transformed disparity map; and stitch the transformed left rear image and the transformed reference center rear image based on the optimal left seam and the transformed right rear image and the transformed reference center rear image based on the optimal right seam to generate a panorama. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for generating a rear-stitched view panorama, the method comprising:
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computing a disparity map for a left center rear image and a right center rear image, the left center rear image captured by a stereo camera mounted on a rear of a vehicle; transforming a right rear image, a left rear image, a reference center rear image of one of the left center rear image and the right center rear image, and the disparity map to a virtual world view using virtual camera parameters, the right rear image captured by a right camera mounted on a right side of the vehicle and the left rear image captured by a left camera mounted on a left side of the vehicle; computing an optimal left seam between the transformed left rear image and the transformed reference center rear image based on the transformed disparity map; computing an optimal right seam between the transformed right rear image and the transformed reference center rear image based on the transformed disparity map; and stitching the transformed left rear image and the transformed reference center rear image based on the optimal left seam and the transformed right rear image and the transformed reference center rear image based on the optimal right seam to generate a panorama. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification