Bird's-eye view vision system for vehicle surrounding monitoring

Yu Chih Liu, Kai Ying Lin, Yong-Sheng Chen*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

107 Scopus citations


Blind spots usually lead to difficulties for drivers to maneuver their vehicles in complicated environments, such as garages, parking spaces, or narrow alleys. This paper presents a vision system which can assist drivers by providing the panoramic image of vehicle surroundings in a bird's-eye view. In the proposed system, there are six fisheye cameras mounted around a vehicle so that their views cover the whole surrounding area. Parameters of these fisheye cameras were calibrated beforehand so that the captured images can be dewarped into perspective views for integration. Instead of error-prone stereo matching, overlapping regions of adjacent views are stitched together by aligning along a seam with dynamic programming method followed by propagating the deformation field of alignment with Wendland functions. In this way the six fisheye images can be integrated into a single, panoramic, and seamless one from a look-down viewpoint. Our experiments clearly demonstrate the effectiveness of the proposed image-stitching method for providing the bird's eye view vision for vehicle surrounding monitoring.

Original languageEnglish
Title of host publicationRobot Vision - Second International Workshop, RobVis 2008, Proceedings
Number of pages12
StatePublished - 27 Aug 2008
Event2nd International Workshop on Robot Vision, RobVis 2008 - University of Auckland, New Zealand
Duration: 18 Feb 200820 Feb 2008

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4931 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference2nd International Workshop on Robot Vision, RobVis 2008
Country/TerritoryNew Zealand
CityUniversity of Auckland


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