Algorithm Research And Embedded Implementation Of 3D Variable Around View System

Due to the continuous increase of travel pressure,vehicle safety has attracted more and more attention.With the development of electronic technology,more and more advanced electronic computing units have been applied in the active security system to ensure people's travel safety.Among them,the around view system can provide the driver sitting in the driver's seat with the road information around the body,avoiding the collision between the vehicle and pedestrians,reducing the driver's driving pressure.At the same time,the around view system can also be used as an intelligent vehicle image acquisition platform to realize such functions as lane line retention,lane positioning,obstacle detection,which has a significant impact on the application research and development of future intelligent vehicle algorithms.Aiming at the resloving of the current around view system,such as poor correction effect of fish-eye image,obvious patchwork seam and narrow field of view,etc,this paper developes an around view system with variable viewing angles,eliminating seal,and this system can be operated in embedded systems.Through the self-designed image acquisition unit and image processing chip operation,the system can finally display the three-dimensional virtual scene around the vehicle body,which is larger and more intuitive than the two-dimensional panoramic vision system.The main research work and innovation points of this thesis are as follows:1.Aiming at the shortcomings such as poor splicing effect,low automation and uneven display ratio,this paper designs a real vehicle scene to determine the display ratio,and proposinga more stable automatic corner point algorithm than SUSAN and Harris detection algorithms,and blend the overlapping positions between the various perspectives of the panorama.2.This paper analyzes the similarities and differences between 2D Around System and 3D Around System,and then proposes a 3D Around System algorithm.Focused on the three-dimensional projection of the bowl-shaped surface model building method and combined with the camera external parameters,This paper studys the calculation formula of the image projected to the surface and the virtual camera system to achieve the function of switching the free angle of view.Lastly,the paper uses OpenGL to generate a 3D around scene.3.This paper designs a hardware platform that implements image acquisition operations and performs algorithm migration.A suitable hardware platform is proposed around the overall design requirements of the system,and the relevant hardware modules are designed in detail,and the corresponding algorithms are transplanted for the embedded system,so that the calibration program,the two-dimensional panoramic program,and the three-dimensional panoramic program can be run in the embedded system.At the same time,GPU acceleration is used to optimize some time-consuming programs to meet the real-time requirements of the system.Finally,the experiment is verified and a good display results are achieved.The research of the thesis shows that the 3D Variable Around View System developed in this paper can effectively solve the problems of poor stitching effect and incomplete view,and provides a good reference for the driver during driving,avoiding traffic accidents caused by blind spots in the field of vision.It application value has broad market prospects.