System and method for fisheye image processing

Patent metadata

Field	Value
Publication number	US-10796402-B2
Application number	US-201816165951-A
Country	US
Kind code	B2
Filing date	Oct 19, 2018
Priority date	Oct 19, 2018
Publication date	Oct 6, 2020
Grant date	Oct 6, 2020

Abstract

A system and method for fisheye image processing is disclosed. A particular embodiment can be configured to: receive fisheye image data from at least one fisheye lens camera associated with an autonomous vehicle, the fisheye image data representing at least one fisheye image frame; partition the fisheye image frame into a plurality of image portions representing portions of the fisheye image frame; warp each of the plurality of image portions to map an arc of a camera projected view into a line corresponding to a mapped target view, the mapped target view being generally orthogonal to a line between a camera center and a center of the arc of the camera projected view; combine the plurality of warped image portions to form a combined resulting fisheye image data set representing recovered or distortion-reduced fisheye image data corresponding to the fisheye image frame; generate auto-calibration data representing a correspondence between pixels in the at least one fisheye image frame and corresponding pixels in the combined resulting fisheye image data set; and provide the combined resulting fisheye image data set as an output for other autonomous vehicle subsystems.

First claim

What is claimed is:

1. A system comprising:
a data processor; and
a fisheye image processing system, executable by the data processor, the fisheye image processing system being configured to:
receive fisheye image data from at least one fisheye lens camera associated with an autonomous vehicle, the fisheye image data representing at least one fisheye image frame;
partition the fisheye image frame into a plurality of image portions representing portions of the fisheye image frame;
warp each of the plurality of image portions to map an arc of a camera projected view into a line corresponding to a mapped target view, the mapped target view being generally orthogonal to a line between a camera center and a center of the arc of the camera projected view;
combine the plurality of warped image portions to form a combined resulting fisheye image data set representing recovered or distortion-reduced fisheye image data corresponding to the fisheye image frame;
generate auto-calibration data representing a correspondence between pixels in the at least one fisheye image frame and corresponding pixels in the combined resulting fisheye image data set; and
provide the combined resulting fisheye image data set as an output for other autonomous vehicle subsystems.

2. The system of claim 1 being further configured to perform object extraction on the combined resulting fisheye image data set to identify extracted objects in the fisheye image frame.

3. The system of claim 1 being further configured to align the mapped target view with a line parallel to a side of the autonomous vehicle.

4. The system of claim 1 wherein the at least one fisheye lens camera is from the group consisting of: a left side fisheye lens camera, a right side fisheye lens camera, and a top mounted fisheye lens camera.

5. The system of claim 1 being further configured to obtain parameters of the fisheye lens, the parameters including a fisheye lens radius, a lens aperture, a focal length, and a target field of view angle.

6. The system of claim 1 being further configured to map pixels in the fisheye image frame to pixels in the combined resulting fisheye image data set.

7. The system of claim 1 being further configured to map pixels in the fisheye image frame to pixels in the combined resulting fisheye image data set and to combine all of the pixel mappings to produce an end-to-end mapping for optimization.

8. A method comprising:
receiving fisheye image data from at least one fisheye lens camera associated with an autonomous vehicle, the fisheye image data representing at least one fisheye image frame;
partitioning the fisheye image frame into a plurality of image portions representing portions of the fisheye image frame;
warping each of the plurality of image portions to map an arc of a camera projected view into a line corresponding to a mapped target view, the mapped target view being generally orthogonal to a line between a camera center and a center of the arc of the camera projected view;
combining the plurality of warped image portions to form a combined resulting fisheye image data set representing recovered or distortion-reduced fisheye image data corresponding to the fisheye image frame;
generating auto-calibration data representing a correspondence between pixels in the at least one fisheye image frame and corresponding pixels in the combined resulting fisheye image data set; and
providing the combined resulting fisheye image data set as an output for other autonomous vehicle subsystems.

9. The method of claim 8 including performing object extraction on the combined resulting fisheye image data set to identify extracted objects in the fisheye image frame.

10. The method of claim 8 including aligning the mapped target view with a line parallel to a side of the autonomous vehicle.

11. The method of claim 8 wherein the at least one fisheye lens camera is from the group consisting of: a left side fisheye lens camera, a right side fisheye lens camera, and a top mounted fisheye lens camera.

12. The method of claim 8 including obtaining parameters of the fisheye lens, the parameters including a fisheye lens radius, a lens aperture, a focal length, and a target field of view angle.

13. The method of claim 8 including mapping pixels in the fisheye image frame to pixels in the combined resulting fisheye image data set.

14. The method of claim 8 including mapping pixels in the fisheye image frame to pixels in the combined resulting fisheye image data set and combining all of the pixel mappings to produce an end-to-end mapping for optimization.

15. A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, cause the machine to:
receive fisheye image data from at least one fisheye lens camera associated with an autonomous vehicle, the fisheye image data representing at least one fisheye image frame;
partition the fisheye image frame into a plurality of image portions representing portions of the fisheye image frame;
warp each of the plurality of image portions to map an arc of a camera projected view into a line corresponding to a mapped target view, the mapped target view being generally orthogonal to a line between a camera center and a center of the arc of the camera projected view;
combine the plurality of warped image portions to form a combined resulting fisheye image data set representing recovered or distortion-reduced fisheye image data corresponding to the fisheye image frame;
generate auto-calibration data representing a correspondence between pixels in the at least one fisheye image frame and corresponding pixels in the combined resulting fisheye image data set; and
provide the combined resulting fisheye image data set as an output for other autonomous vehicle subsystems.

16. The non-transitory machine-useable storage medium of claim 15 being further configured to perform object extraction on the combined resulting fisheye image data set to identify extracted objects in the fisheye image frame.

17. The non-transitory machine-useable storage medium of claim 15 being further configured to align the mapped target view with a line parallel to a side of the autonomous vehicle.

18. The non-transitory machine-useable storage medium of claim 15 wherein the at least one fisheye lens camera is from the group consisting of: a left side fisheye lens camera, a right side fisheye lens camera, and a top mounted fisheye lens camera.

19. The non-transitory machine-useable storage medium of claim 15 being further configured to obtain parameters of the fisheye lens, the parameters including a fisheye lens radius, a lens aperture, a focal length, and a target field of view angle.

20. The non-transitory machine-useable storage medium of claim 15 being further configured to map pixels in the fisheye image frame to pixels in the combined resulting fisheye image data set.

Assignees

• Tusimple Inc

Inventors

• Yan Zhipeng
• Chen Pengfei
• Wang Panqu

Classifications

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• G06T2207/20021

  Dividing image into blocks, subimages or windows · CPC title

• B60R2300/105

  using multiple cameras · CPC title

• G06T3/4038

  Image mosaicing, e.g. composing plane images from plane sub-images · CPC title

• B60R1/00 Primary

  Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles · CPC title