US Patent No. 10,992,860

DYNAMIC SEAM ADJUSTMENT OF IMAGE OVERLAP ZONES FROM MULTI-CAMERA SOURCE IMAGES


Patent No. 10,992,860
Issue Date April 27, 2021
Title Dynamic Seam Adjustment Of Image Overlap Zones From Multi-camera Source Images
Inventorship Anthony Tao Liang, Palo Alto, CA (US)
Vidya Elangovan, Cupertino, CA (US)
Divya Ramakrishnan, Santa Clara, CA (US)
Prashant Jain, San Jose, CA (US)
Assignee NIO USA, INC., San Jose, CA (US)

Claim of US Patent No. 10,992,860

1. A method for processing images of a vehicle's surroundings, comprising:obtaining a first image from a first camera having a first vantage of the vehicle's surroundings;
obtaining a second image from a second camera having a second vantage of the vehicle's surroundings that is different from the first vantage;
determining whether an object is present within a field of view of both the first camera and the second camera;
upon determining that the object is present within the field of view, selecting a portion of the first image and a portion of the second image to include an image of the object in one of the selected portion of the first image or the selected portion of the second image and not both the selected portion of the first image and the selected portion of the second image; and
stitching together the selected portion of the first image and selected portion of the second image into a unified image; and
wherein the selection of the portion of the first image and the portion of the second image is further selected based on a distance of the object and further comprising selecting a seam angle of the portion of the first image in accordance with the distance of the object applied to a sigmoid function.