Research of bird´s-eye panoramic view for vehicle parking

This paper proposed a method to integrate multiple images from a video captured by the camera sticked on the back of a vehicle. The integration can be performed in real time. The image integration consists of two steps: Perspective transform and stitching. First, do camera calibration to get the intrinsic parameters and extrinsic parameters with camera calibration and get the birds-eye view of each image. Then detect the line of each image using Hough Transform. After gained the line histogram, gets the rotation angle between two images using minimum cross-correlation of line histogram. Use minimum cross-correlation of binary images to get the transform pixel in horizontal direction and vertical direction. Do spatial transform for one image to gain the images´ coordinate in the same coordinate system. Add two images with different weight to get stitching image.