The safe navigation of large commercial vehicles implies the extended need for the surveillance of the direct surroundings. Nowadays surround view systems show heavy distortions and only have a limited range around the vehicle which may not be far enough to detect obstacles or persons early. We present a novel method which fuses an advanced perspectively correct surround view with an advanced obstacle detection. The method proposed is based on stereo vision and uses geometric modelling of the en- vironment using a grid map data structure. The grid map is pro- cessed by a refinement algorithm to overcome limitations of the grid map when approximating shapes of the obstacles which are highlighted in the surround view.