On-line Generation of around-view images with four cameras

Abstract

This report describes a generation of an around-view image for a vehicle, by combining images from four cameras. We deal with the case where recognition of the scene around a vehicle and a precise control of vehicle posture are needed, such as a parking motion, and around-view images are suitable for such a purpose. We develop a system which can generate around-view images in real-time using four conventional cameras and two PCs. The system also detects a parking lot based on relative positions and angles of line segments in the scene acquired by applying Progressive Probabilistic Hough transform to the around view images. This provides not only the location of the parking lot but also an approaching direction.