Multi-camera dynamic top view vision system

  • US 10,486,596 B2
  • Filed: 01/14/2019
  • Issued: 11/26/2019
  • Est. Priority Date: 02/27/2013
  • Status: Active Grant
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First Claim
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1. A dynamic image stitching system for stitching images captured by multiple cameras of a vision system for a vehicle, said dynamic image stitching system comprising:

  • a plurality of cameras disposed at a vehicle and having respective fields of view exterior the vehicle;

    wherein said plurality of cameras comprises (i) a rear camera disposed at a rear portion of the vehicle and having a field of view at least rearward of the vehicle, (ii) a left-side camera disposed at a left side portion of the vehicle and having a field of view at least sideward of the vehicle, (iii) a right-side camera disposed at a right side portion of the vehicle and having a field of view at least sideward of the vehicle and (iv) a front camera disposed at a front portion of the vehicle and having a field of view at least forward of the vehicle;

    wherein the field of view of said left-side camera partially overlaps the field of view of said front camera and partially overlaps the field of view of said rear camera;

    wherein the field of view of said right-side camera partially overlaps the field of view of said front camera and partially overlaps the field of view of said rear camera;

    wherein image data captured by said plurality of cameras is processed at a processor to detect an object present in an overlapping portion of the fields of view of two cameras of said plurality of cameras and to determine a characteristic of a feature of the detected object present in the overlapping portion of the fields of view of the two cameras;

    wherein said processor stitches, via a stitching algorithm, image data captured by said plurality of cameras to form stitched images;

    wherein said processor adjusts said stitching algorithm responsive to a determination of a difference between the characteristic of the feature of the detected object as captured by a first camera of the two cameras and the characteristic of the feature of the detected object as captured by a second camera of the two cameras; and

    wherein said processor, via adjusting the stitching algorithm, mitigates misalignment of the stitching of image data due to vehicle loading.

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