| 摘要 |
The present invention relates to a method for generating an image of the view around a vehicle, which involves estimating a polygon coordinate in a distortion image obtained through a wide-angle camera and polygon-mapping the estimated polygon coordinate into a standard image. To this end, the method for generating an image of the view around a vehicle according to the present invention involves correcting the radial distortion of an image obtained from a plurality of wide-angle cameras in order to generate a view image, and comprises the steps of: setting a standard coordinate value with respect to each intersection point of a standard grid pattern and generating a standard image divided by a plurality of standard polygons having standard vertices (A', B', C') with respect to a grid pattern image; capturing a checkerboard pattern using a plurality of wide-angle cameras to obtain each distortion image; detecting the edge of the checkerboard pattern in each distortion image; estimating a plurality of correction points by using brightness distribution change amounts in a vertical direction and in a parallel direction during line tracking along the detected edge area, and selecting a correction order for the estimated correction points; dividing each distortion image into a plurality of distortion polygons having correction vertices (A, B, C); mapping each pixel coordinate of the distortion image onto a standard coordinate in order to make a distortion polygon correspond to a standard polygon according to the correction order in order to obtain each correction image; and generating an image of the view around a vehicle by combining each correction image with a vehicle plane image. |
