Patent ID: 11910092
Assignee: BLACK SESAME TECHNOLOGIES INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC H  B  G | IPC B  G  H

Claim 2:
3. The panoramic look-around view generation method of claim 1, wherein the registration calculation further comprises using the steering wheel angle information and the vehicle speed information to obtain the first transformation matrix of image coordinate systems from the previous time to the current time according to the vehicle motion model; and
wherein the step of calculating the affine transformation matrix between the look-around view at the previous time and the look-around view at the current time further comprises calculating a second transformation matrix by using a RANSAC algorithm according to the extracted characteristic points of the look-around view at the previous time and the characteristic points of the look-around view at the current time;
calculating the similarity between the second transformation matrix and the first transformation matrix, using the first transformation matrix as the affine transformation matrix when the similarity is less than a preset threshold, and using the second transformation matrix as the affine transformation matrix when the similarity is greater than or equal to the preset threshold.