Multi-camera vehicle vision system with image gap fill

  • US 10,187,590 B2
  • Filed: 10/26/2016
  • Issued: 01/22/2019
  • Est. Priority Date: 10/27/2015
  • Status: Active Grant
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First Claim
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1. A vision system of a vehicle, said vision system comprising:

  • a plurality of cameras configured to be disposed at a vehicle so as to have respective fields of view exterior of the vehicle, wherein each camera captures image data, and wherein each camera comprises a two dimensional array of photosensing elements;

    an image processor receiving, with the cameras disposed at the vehicle, image data captured by the cameras, the image processor processing image data captured by each of the cameras for warping or projection of a source image into a target image for display at a display device that is viewable by a driver of the vehicle;

    wherein the display device comprises a two dimensional array of display pixels, the display device operable to display target images derived from image data captured by the cameras;

    wherein said vision system provides images for display by the display device that are derived via backward projection, tracing rays from a display plane pixel grid of the display device backwards to one or more source camera pixel grids of one or more of the cameras using warping and unwarping schemes of the one or more cameras and virtual views that are to be generated for display of images by the display device;

    wherein the image processor scans through image data of source images in a scan order, and wherein each source image element of the source image is included only once in the scan order, and wherein the image processor determines the location of a source image element in the target image, and wherein multiple source image elements exist with the same target image location; and

    wherein the image processor comprises a set of accumulator registers, and wherein one accumulator register is selected by the location of the source image element in the target image, and wherein the image processor adds each source image element to the selected accumulator register to obtain an average of all source image elements within the same target image location.

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