A system and a method for fisheye image processing are disclosed. A particular embodiment can be configured to: receive fisheye image data from at least one fisheye lens camera associated with an autonomous vehicle, the fisheye image data representing at least one fisheye image frame; partition the fisheye image frame into a plurality of image portions representing portions of the fisheye image frame; warp each of the plurality of image portions to map an arc of a camera projected view into a line corresponding to a mapped target view, the mapped target view being generally orthogonal to a line between a camera center and a center of the arc of the camera projected view; combine the plurality of warped image portions to form a combined resulting fisheye image data set representing recovered or distortion-reduced fisheye image data corresponding to the fisheye image frame; generate auto-calibration data representing a correspondence between pixels in the at least one fisheye image frameand corresponding pixels in the combined resulting fisheye image data set; and provide the combined resulting fisheye image data set as an output for other autonomous vehicle subsystems.
本申请公开一种用于鱼眼图像处理的系统和方法。一个特定的实施例可以用于:接收至少一个与自动驾驶车辆相关联的鱼眼镜头摄像头的鱼眼图像数据,该鱼眼图像数据表示至少一个鱼眼图像帧;将该鱼眼图像帧划分为代表该鱼眼图像帧的各部分的多个图像部分;变形每个图像部分以将摄像头投影视野中的一个弧映射为与一个映射目标视野对应的直线,该映射目标视野通常根据摄像头中心和摄像头投影视野中的弧的中心之间的直线进行垂直定向;将多个变形后的图像部分组合为一个组合的结果鱼眼图像数据集,该数据集代表与鱼眼图像帧对应的重建的或者减少失真的鱼眼图像数据;生成表示至少一个鱼眼图像帧中的像素与组合的结果鱼眼图像数据集中的相应像素之间的对应关系的自动校正数据;将组合的结果鱼眼图像数据集作为输出提供给其他自动驾驶车辆子系统。
SYSTEM AND METHOD FOR FISHEYE IMAGE PROCESSING
一种鱼眼图像处理系统和方法
2020-04-28
Patent
Elektronische Ressource
Chinesisch
Fisheye image processing method and device as well as vehicle
Europäisches Patentamt | 2016
|CNN-based Fisheye Image Real-Time Semantic Segmentation
IEEE | 2018
|