System and method of establishing a multi-camera image using pixel remapping

  • US 9,900,522 B2
  • Filed: 12/01/2011
  • Issued: 02/20/2018
  • Est. Priority Date: 12/01/2010
  • Status: Active Grant
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First Claim
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1. A method of establishing a composite image for displaying in a vehicle, comprising:

  • a) providing a first camera and a second camera, each camera having a field of view;

    b) positioning the cameras at the vehicle so that the fields of view of the cameras overlap partially, wherein the cameras together have a combined field of view, and wherein the first camera comprises a rear backup camera having a field of view rearward of the vehicle;

    c) recording preliminary digital images from the cameras, each preliminary digital image being made up of a plurality of pixels;

    d) sequentially performing at least three functions on the preliminary digital images, wherein the at least three functions comprise (i) dewarping the preliminary digital images to generate intermediate dewarped images and storing the pixel remapping used to generate the intermediate dewarped images in a first intermediate remapping table, (ii) viewpoint adjustment of the intermediate dewarped images to generate dewarped and viewpoint-adjusted images and storing the pixel remapping used to generate the dewarped and viewpoint-adjusted images in a second intermediate remapping table, and (iii) offset correction of the dewarped and viewpoint-adjusted images and storing the pixel remapping used to generate the dewarped and viewpoint-adjusted and offset-corrected images in a third intermediate remapping table;

    e) generating a combined remapping table by combining remapping information of the first, second and third intermediate remapping tables;

    f) generating a final composite digital image that corresponds to a selected digital representation of the combined field of view of the cameras, at least in part by remapping selected pixels from each of the preliminary digital images of the first and second cameras into selected positions of the final composite digital image in accordance with the combined remapping table;

    g) displaying, at a video display screen during a backup maneuver of the vehicle, intermediate dewarped images derived from applying the pixel remapping of the first intermediate remapping table on the preliminary digital images of the first camera;

    h) displaying, at the video display screen, the final composite digital images when parking the vehicle; and

    i) wherein the video display screen is operable to display a split view of images.

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