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Volume: 30 | Article ID: art00013
Dense Surround View Computation with Perspective Correctness
  DOI :  10.2352/ISSN.2470-1173.2018.17.AVM-282  Published OnlineJanuary 2018

The observation of the direct vehicle surroundings is a critical task to both (semi-)autonomous vehicles and human drivers. A surround view from a virtual bird's view camera perspective helps to enhance operational safety in both cases. Yet, state-of-the-art methods for the computation of these views rely on planar ground plane assumptions which lead to systematic errors and highly distorted views especially on uneven ground or in off-road applications. We address this issue and propose an approach for the computation of dense perspectively correct surround views using stereo vision, a closed-surface heightmap and partial homographies. Using temporal integration of the stereo images, a high image quality is achieved.

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Christian Fuchs, Dietrich Paulus, "Dense Surround View Computation with Perspective Correctnessin Proc. IS&T Int’l. Symp. on Electronic Imaging: Autonomous Vehicles and Machines,  2018,  pp 282-1 - 282-8,

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