MULTI-CAMERA DYNAMIC TOP VIEW VISION SYSTEM
First Claim
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.
1 Assignment
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Accused Products
Abstract
A dynamic image stitching system for stitching images captured by cameras of a vision system for a vehicle includes a plurality of cameras disposed at the vehicle and having respective fields of view exterior the vehicle. The field of view of each side camera partially overlaps the field of view of a front camera and partially overlaps the field of view of a rear camera. Image data captured by the 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. The processor stitches, via a stitching algorithm, image data captured by the cameras. The processor adjusts the stitching algorithm responsive to a determination of a difference between a characteristic of the feature as captured by one of the two cameras and the characteristic of the feature as captured by another of the two cameras.
2 Citations
25 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. 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:
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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 stitching of image data due to due to road surface out-of-flatness. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. 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:
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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 seamless 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; wherein the first camera comprises said front camera or said rear camera and the second camera comprises said left-side camera or said right-side camera; and wherein said processor processes captured image data over multiple frames of captured image data to track the feature of the detected object as it moves through the overlapping portion of the fields of view of the first camera and the second camera, and wherein said processor determines differences in the characteristic of the feature of the detected object over multiple frames of captured image data. - View Dependent Claims (24, 25)
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Specification