ABSTRACT

Bird’s-eye surround view is a new type of Advanced Driv er Assistance System (ADASs) that provides drivers with a real-time ${360}^{\circ }$ top-down view of their vehicle. This paper presents an architecture for a surround view system based on a Tensilica Vision P5 embedded DSP. Fish-eye cameras mounted on each side of a vehicle are employed in the proposed model. The cameras are able to cover the entire view around the vehicle with overlapping areas between neighboring cameras. We use a morphing approach for joint lens and perspective correction of each view. For stitching frames from different cameras, we assume a fixed geometry which permits off-line calculation of frame transformations, thereby reducing the real-time processing load. To further reduce computational complexity, we employ lookup-tables in the view morphing and blending phases. The Vision P5 core combines the four frames with XGA resolution into a single XGA surround view at 30FPS.

摘要

鸟瞰环视是一种新型的高级驾驶员辅助系统 (ADAS)，可为驾驶员提供实时 ${360}^{\circ }$他们车辆的俯视图。本文介绍了一种基于 Tensilica Vision P5 嵌入式 DSP 的环视系统架构。在建议的模型中采用安装在车辆每一侧的鱼眼相机。摄像头能够覆盖车辆周围的整个视图，相邻摄像头之间有重叠区域。我们对每个视图的联合镜头和透视校正使用变形方法。对于拼接来自不同相机的帧，我们假设一个固定的几何形状，允许离线计算帧变换，从而减少实时处理负载。为了进一步降低计算复杂度，我们在视图变形和混合阶段使用查找表。Vision P5 核心将具有 XGA 分辨率的四个帧组合成一个 30FPS 的 XGA 环绕视图。