A surrounding bird-view monitor system with image refinement for parking assistance

• Main Authors: Chi-lei Ho, 何祈磊
• Other Authors: Din-chang Tseng
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/91540608265612815977

碩士 === 國立中央大學 === 資訊工程研究所 === 97 === To park cars in somewhere, drivers usually need to turn their heads or look through the side-view and rear-view mirrors to watch the area behind the vehicles. Due to the limitation of field of view, drivers are mostly unable to see all the area around the vehicles. For the safety of drivers, we present a real-time surrounding bird-view monitoring system for parking assistance. We mount four wide-angle cameras at the front, rear, and both sides of the vehicle to capture consecutive four-in-one images to synthesize the surrounding bird-view images. The studying works consist of off-line and on-line processes. In the off-line processing, we calculate the camera intrinsic and extrinsic parameters and then estimate parameters of distortion model and vignetting model for distortion correction and vignetting compensation. We obtain four bird-view images by computing the homography matrices between every image plane and a virtual image plane which is parallel to the horizontal. Based on the feature points on these images, we register four bird-view images to produce a surrounding bird-view image. Furthermore, we build the lookup table for recording the mapping between the images captured by the wide-angle cameras and the surrounding bird-view image to speed up the on-line processing. In the on-line processing, we use a bi-linear interpolation method to obtain the color value of every pixel of the bird-view surrounding images, and then we compensate for vignetting effect, uniform illumination, and blend the color of the overlapped regions to obtain the seamless images with smooth illumination. Finally, we provide the driver with the surrounding bird-view images to monitor the surrounding area of the vehicle.