Rear-stitched view panorama for rear-view visualization
First Claim
1. A method comprising:
- receiving, by at least one processor, a first image and a second image;
computing, by the at least one processor, a disparity map for the first image and the second image;
receiving, by the at least one processor, a third image;
receiving, by the at least one processor, a fourth image;
transforming, by the at least one processor, the third image, the fourth image, a reference image of the first image or the second image, and the disparity map, to generate a transformed third image, a transformed fourth image, a transformed reference image, and a transformed disparity map;
computing, by the at least one processor, a left seam between the transformed third image and the transformed fourth image in accordance with the transformed disparity map;
computing, by the at least one processor, a right seam between the transformed third image and the transformed reference image in accordance with the transformed disparity map; and
generating, by the at least one processor, a panorama in accordance with the transformed fourth image, the transformed reference image, the left seam, the transformed third image, and the right seam.
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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.
28 Citations
20 Claims
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1. A method comprising:
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receiving, by at least one processor, a first image and a second image; computing, by the at least one processor, a disparity map for the first image and the second image; receiving, by the at least one processor, a third image; receiving, by the at least one processor, a fourth image; transforming, by the at least one processor, the third image, the fourth image, a reference image of the first image or the second image, and the disparity map, to generate a transformed third image, a transformed fourth image, a transformed reference image, and a transformed disparity map; computing, by the at least one processor, a left seam between the transformed third image and the transformed fourth image in accordance with the transformed disparity map; computing, by the at least one processor, a right seam between the transformed third image and the transformed reference image in accordance with the transformed disparity map; and generating, by the at least one processor, a panorama in accordance with the transformed fourth image, the transformed reference image, the left seam, the transformed third image, and the right seam. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A vehicle, comprising:
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a stereo camera configured to obtain a first image and a second image; a first camera configured to obtain a third image; a second camera configured to obtain a fourth image; and at least one processor coupled to the stereo camera, to the first camera, and to the second camera, the at least one processor configured to; receive, from the first camera, the first image and the second image; compute a disparity map for the first image and the second image; receive, from the first camera, the third image; receive, from the second camera, the fourth image; transform the third image, the fourth image, a reference image of the first image or the second image, and the disparity map, to generate a transformed third image, a transformed fourth image, a transformed reference image, and a transformed disparity map; compute a left seam between the transformed third image and the transformed fourth image in accordance with the transformed disparity map; compute a right seam between the transformed third image and the transformed reference image in accordance with the transformed disparity map; and generate a panorama in accordance with the transformed fourth image, the transformed reference image, the left seam, the transformed third image, and the right seam. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification