Method for stitching images captured by multiple vehicular cameras

  • US 10,780,827 B2
  • Filed: 11/25/2019
  • Issued: 09/22/2020
  • Est. Priority Date: 02/27/2013
  • Status: Active Grant
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First Claim
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1. A method for stitching images captured by multiple vehicular cameras, said method comprising:

  • disposing a plurality of cameras at a vehicle so as to have respective fields of view exterior the vehicle;

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

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

    capturing image data by the plurality of cameras and providing captured image data to a processor of the vehicle;

    processing by the processor the provided captured image data;

    detecting, via processing by the processor of the provided captured image data, an object present in an overlapping portion of the fields of view of first and second cameras of the plurality of cameras;

    determining, via processing by the processor of the provided captured image data, a characteristic of a feature of the detected object present in the overlapping portion of the fields of view of the first and second cameras;

    stitching, via processing by the processor of the provided captured image data, image data captured by the first and second cameras to form stitched images; and

    adjusting stitching of captured image data responsive to a determination of a difference between the determined characteristic of the feature of the detected object as captured by the first camera and the determined characteristic of the feature of the detected object as captured by the second camera in order to mitigate misalignment of stitched images.

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