Vehicle lane marking and other object detection using side fisheye cameras and three-fold de-warping

摘要

A method performed by a vehicle system for handling images of the surroundings of a vehicle. An image of the surroundings of the vehicle is obtained. The image is obtained from at least one side image capturing device mounted in or on the vehicle, and the image capturing device comprises a fisheye camera lens. At least a part of the distortions in the image is corrected to obtain a corrected image. The corrected image is rotationally transformed using a first rotational transformation to obtain a first transformed image. The corrected image is rotationally transformed using a second rotational transformation to obtain a second transformed image. The first and second transformed images are consecutive or adjacent images.