Vehicle 360° surround view system having corner placed cameras, and system and method for calibration thereof

摘要

Cameras having wide fields of view are placed at each of the front left, front right, rear left, and rear right corners of a nominally rectangular-shaped vehicle, thereby providing a continuous region of overlapping fields of view completely surrounding the vehicle, and enabling complete 360° stereoscopic vision detection around the vehicle. In an embodiment the regions of overlapping fields of view completely surround the vehicle. The cameras are first individually calibrated, then collectively calibrated considering errors in overlapping viewing areas to develop one or more calibration corrections according to an optimization method that adjusts imaging parameters including homography values for each of the cameras, to reduce the overall error in the 360° surround view image of the continuous region surrounding the vehicle.