CN107274342A - A kind of underbody blind area fill method and system, storage medium, terminal device - Google Patents
A kind of underbody blind area fill method and system, storage medium, terminal device Download PDFInfo
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- CN107274342A CN107274342A CN201710364587.8A CN201710364587A CN107274342A CN 107274342 A CN107274342 A CN 107274342A CN 201710364587 A CN201710364587 A CN 201710364587A CN 107274342 A CN107274342 A CN 107274342A
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- 238000012545 processing Methods 0.000 claims description 7
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- 238000009966 trimming Methods 0.000 description 4
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
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Abstract
The present invention provides a kind of underbody blind area fill method and system, storage medium, terminal device, and the image looked around acquired in camera being arranged on vehicle is pre-processed, and vehicle panoramic image is got a bird's eye view in acquisition；Calculate vehicle and get a bird's eye view vehicle panoramic image and present frame in previous frame and get a bird's eye view relative displacement and the anglec of rotation on vehicle panoramic image；Based on the relative displacement and the anglec of rotation, previous frame is got a bird's eye view into vehicle panoramic image map to present frame and get a bird's eye view on vehicle panoramic image；The underbody blind area on vehicle panoramic image is got a bird's eye view for present frame, if it is not underbody blind area that previous frame, which gets a bird's eye view corresponding position in vehicle panoramic image, the correspondence position of underbody blind area in the image completion present frame of corresponding position in previous frame is utilized.The underbody blind area fill method and system, storage medium, terminal device of the present invention provides auxiliary based on the filling for looking around the adjacent image progress underbody blind area that camera is gathered being arranged on vehicle so as to be driven for user.
Description
Technical field
The present invention relates to the technical field of image procossing, more particularly to a kind of underbody blind area fill method and system, deposit
Storage media, terminal device.
Background technology
In recent years, based on senior DAS (Driver Assistant System) (the Advanced Driver Assistance for looking around camera
Systems, ADAS) received by increasing user.By the installation wide-angle camera all around in automobile, adopt
Collect vehicle body surrounding image, handled by Algorithm Analysis, to driver provide include panorama park auxiliary, deviation alarm,
Various senior auxiliary including the vehicle detection of blind area drive function, have important meaning for the active safety for improving automobile
Justice.
Wherein, looking around camera includes being arranged on motor vehicle environment, covering 4 to 8 of all field ranges of vehicle-surroundings
Wide-angle camera.The multi-channel video image that camera synchronization collects will be looked around to be handled, vehicle-surroundings just can be obtained
360 degree of vehicle body top view.
However, the image of underbody blind area can not be obtained in real time by looking around camera.In the prior art, generally using a certain specific
Image is filled to underbody blind area, causes user can not see the situation of underbody blind area, thus can not provide the user full side
The visual field auxiliary of position.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of underbody blind area fill method and
System, storage medium, terminal device, based on the adjacent image that camera gathered of looking around on vehicle is arranged on, to carry out underbody blind
The filling in area, auxiliary is provided so as to be driven for user.
In order to achieve the above objects and other related objects, the present invention provides a kind of underbody blind area fill method, including following
Step：The image looked around acquired in camera being arranged on vehicle is pre-processed, vehicle panoramic image is got a bird's eye view in acquisition；Meter
Calculate vehicle and get a bird's eye view vehicle panoramic image and present frame in previous frame and get a bird's eye view relative displacement and the anglec of rotation on vehicle panoramic image
Degree；Based on the relative displacement and the anglec of rotation, previous frame is got a bird's eye view into vehicle panoramic image map to present frame and get a bird's eye view vehicle
On panoramic picture；The underbody blind area on vehicle panoramic image is got a bird's eye view for present frame, if previous frame is got a bird's eye view in vehicle panoramic image
Corresponding position is not underbody blind area, then the image completion for getting a bird's eye view corresponding position in vehicle panoramic image using previous frame is current
Frame gets a bird's eye view the correspondence position of underbody blind area in vehicle panoramic image.
In one embodiment of the invention, the pretreatment includes denoising, demarcation and corrects, cuts, piecing together and video successively
Smoothing processing.
In one embodiment of the invention, vehicle panoramic image is got a bird's eye view and current in previous frame using inertial navigation principle calculating vehicle
Frame gets a bird's eye view relative displacement and the anglec of rotation on vehicle panoramic image.
In one embodiment of the invention, in addition to：Above-mentioned steps are performed repeatedly, and vehicle panoramic image is got a bird's eye view using previous frame
Filling present frame gets a bird's eye view the underbody blind area of vehicle panoramic image, until the underbody blind area of present frame is all filled and finished.
Accordingly, the present invention also provides a kind of underbody blind area fill system, including pretreatment module, computing module, mapping
Module and filling module；
The pretreatment module is used to pre-process the image looked around acquired in camera being arranged on vehicle, obtains
Take and get a bird's eye view vehicle panoramic image；
For calculating, vehicle gets a bird's eye view vehicle panoramic image to the computing module in previous frame and present frame gets a bird's eye view vehicle panoramic
Relative displacement and the anglec of rotation on image；
The mapping block is used to be based on the relative displacement and the anglec of rotation, and previous frame is got a bird's eye view into vehicle panoramic image
Present frame is mapped to get a bird's eye view on vehicle panoramic image；
The filling module is used to get a bird's eye view the underbody blind area on vehicle panoramic image for present frame, if previous frame gets a bird's eye view car
Corresponding position is not underbody blind area in panoramic picture, then gets a bird's eye view corresponding position in vehicle panoramic image using previous frame
Image completion present frame gets a bird's eye view the correspondence position of underbody blind area in vehicle panoramic image.
In one embodiment of the invention, in the pretreatment module, it is described pretreatment successively include denoising, demarcation correction,
Cut, piece together and video smoothing processing.
In one embodiment of the invention, it is complete that the computing module gets a bird's eye view vehicle using inertial navigation principle calculating vehicle in previous frame
Scape image gets a bird's eye view relative displacement and the anglec of rotation on vehicle panoramic image with present frame.
In one embodiment of the invention, in addition to iteration module, the iteration module, which is used to constantly obtaining, new gets a bird's eye view car
Panoramic picture gets a bird's eye view vehicle panoramic image as present frame, and gets a bird's eye view vehicle panoramic image completion present frame bird using previous frame
Look down from a height the underbody blind area of vehicle panoramic image, until the underbody blind area of present frame is all filled and finished.
Meanwhile, the present invention also provides a kind of computer-readable recording medium, is stored thereon with computer program, the program quilt
Underbody blind area fill method described in any of the above-described is realized during computing device.
In addition, the present invention also provides a kind of terminal device, including processor and memory；
The memory is used to store computer program；
The processor is used for the computer program for performing the memory storage, so that terminal device execution is above-mentioned
Any one underbody blind area fill method.
Finally, the present invention also provides a kind of underbody blind area fill system, including be arranged on vehicle look around camera with
And above-mentioned terminal device；
The camera of looking around is used for the image on collection vehicle periphery, and is sent to the terminal device.
As described above, the underbody blind area fill method and system, storage medium, terminal device of the present invention, have with following
Beneficial effect：
(1) it is real based on the filling for looking around the adjacent image progress underbody blind area that camera is gathered being arranged on vehicle
The accurate display of existing underbody fade chart picture；
(2) driven for user and auxiliary is provided, improve Consumer's Experience.
Brief description of the drawings
Fig. 1 is shown as the flow chart of the underbody blind area fill method of the present invention；
Fig. 2, which is shown as in the present invention previous frame getting a bird's eye view vehicle panoramic image, to be mapped to present frame and gets a bird's eye view vehicle panoramic image
Schematic diagram；
The image completion that Fig. 3 is shown as in the present invention getting a bird's eye view corresponding position in vehicle panoramic image using previous frame is current
Frame gets a bird's eye view the schematic diagram of the correspondence position of underbody blind area in vehicle panoramic image；
Fig. 4 is shown as the structural representation of the first embodiment of the underbody blind area fill system of the present invention；
Fig. 5 is shown as the structural representation of the terminal device of the present invention；
Fig. 6 is shown as the structural representation of the second embodiment of the underbody blind area fill system of the present invention.
Component label instructions
11 pretreatment modules
12 computing modules
13 mapping blocks
14 filling modules
51 processors
52 memories
61 look around camera
62 terminal devices
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.It should be noted that, in the case where not conflicting, following examples and implementation
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates the basic structure of the present invention in a schematic way
Think, then in schema only display with relevant component in the present invention rather than according to component count, shape and the size during actual implement
Draw, it is actual when implementing, and kenel, quantity and the ratio of each component can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
The underbody blind area fill method and system, storage medium, terminal device of the present invention is based on the ring being arranged on vehicle
The filling of underbody blind area is carried out depending on the adjacent image that camera is gathered, auxiliary is provided so as to be driven for user, improves user
Experience.
As shown in figure 1, the underbody blind area fill method of the present invention comprises the following steps：
Step S1, the image looked around acquired in camera being arranged on vehicle is pre-processed, vehicle is got a bird's eye view in acquisition
Panoramic picture.
Looking around camera includes being arranged on headstock, the tailstock, four cameras of the left and right sides (under the rearview mirror of left and right), so that
It can obtain and get a bird's eye view 360 ° of panoramic pictures of vehicle.It should be noted that acquired vehicle panoramic image of getting a bird's eye view is with vehicle
Centered on, the image of same specification, the image range of its vehicle periphery covered is identical.
Specifically, the pretreatment is corrected, cut, piecing together including denoising, demarcation successively and video smoothing processing.
Due to by camera in itself with the influence such as external environmental noise interference, the image that camera is directly obtained is referred to as containing
Image or noise image make an uproar, it is necessary to carry out denoising.Normally, denoising can be using mean filter, adaptive dimension
Receiving wave filter, median filter or morphology scratch filter is filtered denoising, it would however also be possible to employ wavelet analysis carries out denoising.
To looking around before the image acquired in camera is applied, it is necessary to set up between image coordinate and physical coordinates
Corresponding relation.The process of setting up of the corresponding relation is demarcation trimming process.
Cutting refers to according to preset standard to image is carried out into trimming operation, and image after desired cutting is met to obtain.
For example, for the image being arranged on acquired in the camera of headstock and the left and right sides, cropping and partially overlapping according to preset standard
Image.For another example for the image being arranged on acquired in the camera of the tailstock and the left and right sides, being cropped according to preset standard
The image partially overlapped, so that for the image needed for follow-up image procossing is provided.
Piece together and refer to the image looked around acquired in the camera of each in camera after cutting carrying out splicing laminating, to obtain
360 ° of panoramic pictures of vehicle must be got a bird's eye view.
Video smoothing is handled for reducing the jitter phenomenon between consecutive image, thus provide meet require get a bird's eye view vehicle
Panoramic picture.
Step S2, calculate vehicle and get a bird's eye view vehicle panoramic image in previous frame and phase on vehicle panoramic image is got a bird's eye view with present frame
To offset and the anglec of rotation.
Specifically, vehicle is calculated using inertial navigation principle to get a bird's eye view vehicle panoramic image in previous frame to get a bird's eye view vehicle with present frame complete
Relative displacement and the anglec of rotation on scape image.Inertial navigation, i.e. inertial navigation system, be it is a kind of independent of external information,
Not to the autonomic navigation system of outside emittance.The basic functional principle of inertial navigation is based on Newton mechanics law, to lead to
Measurement carrier is crossed in the acceleration of inertial reference system, it is integrated to the time, and it is transformed in navigational coordinate system, just
The information such as speed, yaw angle and position in navigational coordinate system can be obtained.
Step S3, based on the relative displacement and the anglec of rotation, previous frame is got a bird's eye view vehicle panoramic image and mapped to and is worked as
Previous frame is got a bird's eye view on vehicle panoramic image.
Specifically, previous frame is got a bird's eye view into vehicle panoramic image it is covered in present frame and get a bird's eye view on vehicle panoramic image, and causes
The vehicle that previous frame is got a bird's eye view in vehicle panoramic image gets a bird's eye view the vehicle in vehicle panoramic image with the rotation relative to present frame
Angle is rotated, and enters line displacement with the relative displacement, and vehicle panoramic image is got a bird's eye view so as to obtain being mapped in present frame
On previous frame get a bird's eye view vehicle panoramic image.Vehicle panoramic image is got a bird's eye view as shown in Fig. 2 image B is previous frame, image A is to work as
Previous frame gets a bird's eye view vehicle panoramic image.According to the relative displacement and the anglec of rotation, using vehicle in image B as basic point, to image B
Enter after line displacement and rotation, so that image B is mapped in image A, that is, obtain the mapping graph picture on the right.
Step S4, the underbody blind area got a bird's eye view for present frame on vehicle panoramic image, if previous frame gets a bird's eye view vehicle panoramic figure
Corresponding position is not underbody blind area as in, then the image completion of corresponding position in vehicle panoramic image is got a bird's eye view using previous frame
Present frame gets a bird's eye view the correspondence position of underbody blind area in vehicle panoramic image.
Specifically, when previous frame, which gets a bird's eye view vehicle panoramic image, to be mapped to present frame and get a bird's eye view vehicle panoramic image, previous frame
Getting a bird's eye view the underbody blind area for getting a bird's eye view vehicle panoramic image with present frame in the underbody blind area in vehicle panoramic image may partially overlap,
Can be completely non-intersect.Vehicle panoramic image is got a bird's eye view when previous frame gets a bird's eye view underbody blind area in vehicle panoramic image with present frame
When underbody blind area partially overlaps, for non-coincidence part, the corresponding position of vehicle panoramic image is got a bird's eye view using the previous frame after mapping
The image at the place of putting is filled.As shown in figure 3, present frame is got a bird's eye view in vehicle panoramic image A underbody blind area, A1 parts are corresponding
Mapping after image B part be not underbody blind area, therefore by underbody in the image completion image A of corresponding position in image B
The A1 parts of blind area.
Preferably, in addition to：Above-mentioned steps are performed repeatedly, and vehicle panoramic image completion present frame bird is got a bird's eye view using previous frame
Look down from a height the underbody blind area of vehicle panoramic image, until the underbody blind area of present frame is all filled and finished.
Specifically, vehicle is moved on, and what constantly acquisition was new gets a bird's eye view vehicle panoramic image.Aforesaid operations are repeated, no
It is disconnected to get a bird's eye view the underbody blind area that vehicle panoramic image completion present frame gets a bird's eye view vehicle panoramic image using previous frame so that present frame bird
Look down from a height vehicle panoramic image underbody blind area it is less and less, until the underbody blind area of present frame is all filled and finished.
As shown in figure 4, in the first embodiment of the underbody blind area fill system of the present invention, including the pretreatment being sequentially connected
Module 11, computing module 12, mapping block 13 and filling module 14.
Pretreatment module 11 is used to pre-process the image looked around acquired in camera being arranged on vehicle, obtains
Get a bird's eye view vehicle panoramic image.
Looking around camera includes being arranged on headstock, the tailstock, four cameras of the left and right sides (under the rearview mirror of left and right), so that
It can obtain and get a bird's eye view 360 ° of panoramic pictures of vehicle.It should be noted that acquired vehicle panoramic image of getting a bird's eye view is with vehicle
Centered on, the image of same specification, the image range of its vehicle periphery covered is identical.
Specifically, the pretreatment is corrected, cut, piecing together including denoising, demarcation successively and video smoothing processing.
Due to by camera in itself with the influence such as external environmental noise interference, the image that camera is directly obtained is referred to as containing
Image or noise image make an uproar, it is necessary to carry out denoising.Normally, denoising can be using mean filter, adaptive dimension
Receiving wave filter, median filter or morphology scratch filter is filtered denoising, it would however also be possible to employ wavelet analysis carries out denoising.
To looking around before the image acquired in camera is applied, it is necessary to set up between image coordinate and physical coordinates
Corresponding relation.The process of setting up of the corresponding relation is demarcation trimming process.
Cutting refers to according to preset standard to image is carried out into trimming operation, and image after desired cutting is met to obtain.
For example, for the image being arranged on acquired in the camera of headstock and the left and right sides, cropping and partially overlapping according to preset standard
Image.For another example for the image being arranged on acquired in the camera of the tailstock and the left and right sides, being cropped according to preset standard
The image partially overlapped, so that for the image needed for follow-up image procossing is provided.
Piece together and refer to the image looked around acquired in the camera of each in camera after cutting carrying out splicing laminating, to obtain
360 ° of panoramic pictures of vehicle must be got a bird's eye view.
Video smoothing is handled for reducing the jitter phenomenon between consecutive image, thus provide meet require get a bird's eye view vehicle
Panoramic picture.
For calculating, vehicle gets a bird's eye view vehicle panoramic image to computing module 12 in previous frame and present frame gets a bird's eye view vehicle panoramic figure
As upper relative displacement and the anglec of rotation.
Specifically, vehicle is calculated using inertial navigation principle to get a bird's eye view vehicle panoramic image in previous frame to get a bird's eye view vehicle with present frame complete
Relative displacement and the anglec of rotation on scape image.Inertial navigation, i.e. inertial navigation system, be it is a kind of independent of external information,
Not to the autonomic navigation system of outside emittance.The basic functional principle of inertial navigation is based on Newton mechanics law, to lead to
Measurement carrier is crossed in the acceleration of inertial reference system, it is integrated to the time, and it is transformed in navigational coordinate system, just
The information such as speed, yaw angle and position in navigational coordinate system can be obtained.
Mapping block 13 is used to be based on the relative displacement and the anglec of rotation, and previous frame is got a bird's eye view into vehicle panoramic image and reflected
Present frame is incident upon to get a bird's eye view on vehicle panoramic image.
Specifically, previous frame is got a bird's eye view into vehicle panoramic image it is covered in present frame and get a bird's eye view on vehicle panoramic image, and causes
The vehicle that previous frame is got a bird's eye view in vehicle panoramic image gets a bird's eye view the vehicle in vehicle panoramic image with the rotation relative to present frame
Angle is rotated, and enters line displacement with the relative displacement, and vehicle panoramic image is got a bird's eye view so as to obtain being mapped in present frame
On previous frame get a bird's eye view vehicle panoramic image.Vehicle panoramic image is got a bird's eye view as shown in Fig. 2 image B is previous frame, image A is to work as
Previous frame gets a bird's eye view vehicle panoramic image.According to the relative displacement and the anglec of rotation, using vehicle in image B as basic point, to image B
Enter after line displacement and rotation, so that image B is mapped in image A, that is, obtain the mapping graph picture on the right.
Filling module 14 is used to get a bird's eye view the underbody blind area on vehicle panoramic image for present frame, if previous frame gets a bird's eye view vehicle
Corresponding position is not underbody blind area in panoramic picture, then the figure of corresponding position in vehicle panoramic image is got a bird's eye view using previous frame
As filling present frame gets a bird's eye view the correspondence position of underbody blind area in vehicle panoramic image.
Specifically, when previous frame, which gets a bird's eye view vehicle panoramic image, to be mapped to present frame and get a bird's eye view vehicle panoramic image, previous frame
Getting a bird's eye view the underbody blind area for getting a bird's eye view vehicle panoramic image with present frame in the underbody blind area in vehicle panoramic image may partially overlap,
Can be completely non-intersect.Vehicle panoramic image is got a bird's eye view when previous frame gets a bird's eye view underbody blind area in vehicle panoramic image with present frame
When underbody blind area partially overlaps, for non-coincidence part, the corresponding position of vehicle panoramic image is got a bird's eye view using the previous frame after mapping
The image at the place of putting is filled.As shown in figure 3, present frame is got a bird's eye view in vehicle panoramic image A underbody blind area, A1 parts are corresponding
Mapping after image B part be not underbody blind area, therefore by underbody in the image completion image A of corresponding position in image B
The A1 parts of blind area.
Preferably, in addition to iteration module, iteration module is used to constantly obtaining new vehicle panoramic image of getting a bird's eye view as working as
Previous frame gets a bird's eye view vehicle panoramic image, and gets a bird's eye view vehicle panoramic image completion present frame using previous frame and get a bird's eye view vehicle panoramic image
Underbody blind area, until the underbody blind area of present frame is all filled and finished.
Specifically, vehicle is moved on, and what constantly acquisition was new gets a bird's eye view vehicle panoramic image.Aforesaid operations are repeated, no
It is disconnected to get a bird's eye view the underbody blind area that vehicle panoramic image completion present frame gets a bird's eye view vehicle panoramic image using previous frame so that present frame bird
Look down from a height vehicle panoramic image underbody blind area it is less and less, until the underbody blind area of present frame is all filled and finished.
The present invention also provides a kind of computer-readable recording medium, is stored thereon with computer program, and the program is processed
Device realizes underbody blind area fill method described in any of the above-described when performing.
As shown in figure 5, the terminal device of the present invention includes processor 51 and memory 52；
Memory 52 is used to store computer program；
Processor 51 is used for the computer program for performing the storage of memory 52, so that terminal device performs any of the above-described institute
State underbody blind area fill method.
As shown in fig. 6, in the underbody blind area fill system second embodiment of the present invention, including it is arranged on looking around on vehicle
Camera 61 and above-mentioned terminal device 62；
Looking around camera 61 is used for the image on collection vehicle periphery, and is sent to terminal device 62.Wherein, camera is looked around
61 pass through with terminal device 62 it is wired or wirelessly realize data communication.
In summary, underbody blind area fill method of the invention and system, storage medium, terminal device are based on being arranged on car
The filling for looking around the adjacent image progress underbody blind area that camera is gathered on, realizes the accurate aobvious of underbody fade chart picture
Show；Driven for user and auxiliary is provided, improve Consumer's Experience.So, the present invention effectively overcomes of the prior art a variety of scarce
Put and have high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (11)
1. a kind of underbody blind area fill method, it is characterised in that：Comprise the following steps：
The image looked around acquired in camera being arranged on vehicle is pre-processed, vehicle panoramic image is got a bird's eye view in acquisition；
Calculate vehicle previous frame get a bird's eye view vehicle panoramic image and present frame get a bird's eye view relative displacement on vehicle panoramic image and
The anglec of rotation；
Based on the relative displacement and the anglec of rotation, previous frame is got a bird's eye view into vehicle panoramic image map to present frame and get a bird's eye view vehicle
On panoramic picture；
The underbody blind area on vehicle panoramic image is got a bird's eye view for present frame, if previous frame gets a bird's eye view correspondence position in vehicle panoramic image
Place is not underbody blind area, then the image completion present frame for getting a bird's eye view corresponding position in vehicle panoramic image using previous frame gets a bird's eye view car
The correspondence position of underbody blind area in panoramic picture.
2. underbody blind area according to claim 1 fill method, it is characterised in that：It is described pretreatment successively include denoising,
Demarcation is corrected, cut, piecing together and video smoothing processing.
3. underbody blind area according to claim 1 fill method, it is characterised in that：Vehicle is calculated upper using inertial navigation principle
One frame gets a bird's eye view vehicle panoramic image and present frame and gets a bird's eye view relative displacement and the anglec of rotation on vehicle panoramic image.
4. underbody blind area according to claim 1 fill method, it is characterised in that：Also include：Above-mentioned steps are performed repeatedly,
The underbody blind area that vehicle panoramic image completion present frame gets a bird's eye view vehicle panoramic image is got a bird's eye view using previous frame, until the car of present frame
Bottom blind area, which is all filled, to be finished.
5. a kind of underbody blind area fill system, it is characterised in that：Including pretreatment module, computing module, mapping block and filling
Module；
The pretreatment module is used to pre-process the image looked around acquired in camera being arranged on vehicle, obtains bird
Look down from a height vehicle panoramic image；
For calculating, vehicle gets a bird's eye view vehicle panoramic image to the computing module in previous frame and present frame gets a bird's eye view vehicle panoramic image
On relative displacement and the anglec of rotation；
The mapping block is used to be based on the relative displacement and the anglec of rotation, and previous frame is got a bird's eye view into the mapping of vehicle panoramic image
Got a bird's eye view to present frame on vehicle panoramic image；
The filling module is used to get a bird's eye view underbody blind area on vehicle panoramic image for present frame, if to get a bird's eye view vehicle complete for previous frame
Corresponding position is not underbody blind area in scape image, then the image of corresponding position in vehicle panoramic image is got a bird's eye view using previous frame
Filling present frame gets a bird's eye view the correspondence position of underbody blind area in vehicle panoramic image.
6. underbody blind area according to claim 5 fill system, it is characterised in that：It is described pre- in the pretreatment module
Processing includes denoising, demarcation and corrects, cuts, piecing together and video smoothing processing successively.
7. underbody blind area according to claim 5 fill system, it is characterised in that：The computing module utilizes inertial navigation principle
Calculate vehicle and get a bird's eye view vehicle panoramic image and present frame in previous frame and get a bird's eye view relative displacement and rotation on vehicle panoramic image
Angle.
8. underbody blind area according to claim 5 fill system, it is characterised in that：Also include iteration module, the iteration
The vehicle panoramic image of getting a bird's eye view that module is used to constantly obtain newly gets a bird's eye view vehicle panoramic image as present frame, and utilizes previous frame bird
Vehicle panoramic image completion present frame of looking down from a height gets a bird's eye view the underbody blind area of vehicle panoramic image, until the whole quilts in the underbody blind area of present frame
Filling is finished.
9. a kind of computer-readable recording medium, it is characterised in that：Computer program is stored thereon with, the program is held by processor
Underbody blind area fill method any one of Claims 1-4 is realized during row.
10. a kind of terminal device, it is characterised in that：Including processor and memory；
The memory is used to store computer program；
The processor is used for the computer program for performing the memory storage, so that the terminal device performs right such as and wanted
Seek underbody blind area fill method any one of 1 to 4.
11. a kind of underbody blind area fill system, it is characterised in that：Look around camera and right including being arranged on vehicle will
Seek the terminal device described in 10；
The camera of looking around is used for the image on collection vehicle periphery, and is sent to the terminal device.
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| CN110246358A (en) * | 2018-03-08 | 2019-09-17 | 比亚迪股份有限公司 | Method, vehicle and system for parking stall where positioning vehicle |
| CN111160070A (en) * | 2018-11-07 | 2020-05-15 | 广州汽车集团股份有限公司 | Vehicle panoramic image blind area eliminating method and device, storage medium and terminal equipment |
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