A Bird-view Surrounding Monitor System for Parking Assistance

• Main Authors: Yi-fu Chen, 陳逸夫
• Other Authors: Din-chang Tseng
• Format: Others
• Language: en_US
• Online Access: http://ndltd.ncl.edu.tw/handle/73153945154774130179

碩士 === 國立中央大學 === 資訊工程研究所 === 96 === To realize the concept of “No blind spot around the vehicle”, cameras are used to support the driver''s visibility. We propose a system that employs four wide-angle cameras mounted in the front, rear, and both sides of a vehicle to capture images; images are then transformed and combined a bird-view image of the surrounding area of the vehicle to provide to the driver. To generate a bird-view of the surrounding area, we define a virtual camera above the vehicle. The bird-view image is constructed in two steps. First, image pixels of the wide-angle cameras are back-projected to the ground plane. Second, the ground points are projected to the virtual camera. The system is composed of four cameras with wide-angle lenses to get a wide field of view, but introducing a heavy distortion on images. To find the distortion parameter of a camera, we assume the basic property of the pinhole camera model: line segments in the 3-D space will always project as 2-D lines in the image plane. Concerning the problems of distortion removal and inverse perspective mapping with the knowledge of the intrinsic and extrinsic parameters of cameras have to be solved. A technique for camera calibration using a planar pattern is presented. Finally, we use a simple statistical analysis method to impose one image’s color on another, which improves the quality of the results. In this thesis, we show how to transform and combine images from four wide-angle cameras to provide a bird-view of the surrounding area of a vehicle on a single display.