Difference between revisions of "Birds Eye View/Introduction/Research"
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| − | In general, camera-on-vehicle has serious perspective effect as Fig. 1(a). Because of the perspective effect, the driver can’t feel distance correctly and advanced image processing or analysis becomes difficult also. Consequently, as Fig. 1(b), perspective transformation is necessary. The raw images have to be transferred into bird’s-eye view as Fig. 1(c). | + | In general, camera-on-vehicle has serious perspective effect as Fig. 1(a). Because of the perspective effect, the driver can’t feel distance correctly and advanced image processing or analysis becomes difficult also. Consequently, as Fig. 1(b), perspective transformation is necessary. The raw images have to be transferred into bird’s-eye view as Fig. 1(c). [https://www.researchgate.net/profile/Kyeong_yuk_Min/publication/224117777_Low-cost_implementation_of_bird's-eye_view_system_for_camera-on-vehicle/links/0c9605310500039383000000/Low-cost-implementation-of-birds-eye-view-system-for-camera-on-vehicle.pdf] |
[[File:PerspectiveBEV.png|600px|center|thumb| Illustration of perspective transformation in a parking lot scene [https://www.researchgate.net/profile/Kyeong_yuk_Min/publication/224117777_Low-cost_implementation_of_bird's-eye_view_system_for_camera-on-vehicle/links/0c9605310500039383000000/Low-cost-implementation-of-birds-eye-view-system-for-camera-on-vehicle.pdf]]] | [[File:PerspectiveBEV.png|600px|center|thumb| Illustration of perspective transformation in a parking lot scene [https://www.researchgate.net/profile/Kyeong_yuk_Min/publication/224117777_Low-cost_implementation_of_bird's-eye_view_system_for_camera-on-vehicle/links/0c9605310500039383000000/Low-cost-implementation-of-birds-eye-view-system-for-camera-on-vehicle.pdf]]] | ||
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</math> | </math> | ||
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| + | = Proposed System = | ||
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| + | The following image shows the basic workflow used by the BEV system. | ||
| + | [[File:BEV workflow.png|700px|center|thumb| General Workflow]] | ||
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| + | [[File:Transformation BEW.png|800px|center|thumb| Perspective transformation internal workflow]] | ||
Revision as of 12:58, 18 November 2019
Introduction
In general, camera-on-vehicle has serious perspective effect as Fig. 1(a). Because of the perspective effect, the driver can’t feel distance correctly and advanced image processing or analysis becomes difficult also. Consequently, as Fig. 1(b), perspective transformation is necessary. The raw images have to be transferred into bird’s-eye view as Fig. 1(c). [2]
To obtain the output bird-s eye view image a transformation using the following projection matrix can be used. It maps the relationship between pixel (x,y) of bird's eye view image and pixel (u,v) from the input image.
[math]\displaystyle{ \begin{bmatrix} x'\\ y'\\ w' \end{bmatrix} = \begin{bmatrix} a_{11} \;\; a_{12} \;\; a_{13}\\ a_{21} \;\; a_{22} \;\; a_{23}\\ a_{31} \;\; a_{32} \;\; a_{33} \end{bmatrix} \begin{bmatrix} u\\ v\\ w \end{bmatrix} \;\; where \;\;\;\; x = \frac{x'}{w'} \;\; and \;\;\;\; y = \frac{y'}{w'}. }[/math]
Proposed System
The following image shows the basic workflow used by the BEV system.
