Patent Publication Number: US-9902322-B2

Title: Filling in surround view areas blocked by mirrors or other vehicle parts

Description:
TECHNICAL FIELD 
     The embodiments herein relate generally to vision/imaging systems and more specifically to vehicle corner and/or surround view camera systems providing an unobstructed bird&#39;s eye view of one or more regions surrounding a vehicle such as a cargo truck. The example embodiments herein will be described in connection with a first application using a single side-placed camera for a non-articulated cargo truck, and a second application using a system of two (2) cameras including a side-placed first camera and a front/corner-placed second camera for a non-articulated cargo truck. However, it is to be appreciated that the embodiments are not limited to only these applications, but also find use in many other applications including for example 360° surround view camera systems and in other mobile or stationary systems including one or more image obtaining unis. 
     BACKGROUND 
     It is common to place cameras on vehicles for purposes of providing one or more images of areas surrounding the vehicle to an operator. This helps to improve the awareness of the operator relative to conditions near the vehicle for avoiding collisions and to assist in maneuvering the vehicle for parking or movement near loading docks or the like. For these reasons and for purposes of attempting to provide a “surround view” of the area around the vehicle, cameras have been located at various positions on the vehicle such as for example at the front end, rear, left side, and right side. These cameras offer the operator various views relative to the vehicle including forward, rear, left and right views. In some applications, the set of views are combined by abutting or “stitching” these into a single image for display on the dashboard of the vehicle or the like to provide live panoramic or bird&#39;s eye views of the vehicle in its current setting for the convenience of the operator. 
     Surround view cameras may be advantageously mounted at the corners of selected structure of the vehicles. However, the view at these corners is often blocked by mirrors or other protuberances intrinsic to the vehicle, leading to obstructed or blank spots in the resultant surround view making it difficult for the driver to see a complete image of peripheral areas relative to the vehicle. In addition, during use of the surround view camera systems, objects adjacent the vehicle might block the images obtained by the one or more cameras. These other protuberances or structures extrinsic to the vehicle also lead to obstructed or blank spots in the resultant surround view making it difficult for the driver to see a complete image of peripheral areas relative to the vehicle. 
     It is therefore desirable to provide a vehicle surround view system without these limitations and which provides realistic, life-like, images to a vehicle operator without introducing any blind spots or blind spot artifacts or other confusion into the image and, in particular, to provide a vehicle surround view system that can fill in surround view areas blocked by vehicle parts such as mirrors or blocked by other extrinsic objects or the like. 
     BRIEF SUMMARY OF EXAMPLE EMBODIMENTS 
     The embodiments herein provide, in general, the filling in of partial obstructions contained in images of peripheral areas of an associated moving object, such as a vehicle for example. The example embodiments herein describing the general concepts are related to motor vehicles for ease of describing the embodiments, but the applicability of the advantageous techniques and structural combinations are not limited to application in only motor vehicles. Rather, the embodiments herein provide the filling in of partial obstructions contained in images obtained of areas peripheral to an associated object in applications when there is relative movement between the object and the areas peripheral to the object as well as in static applications when there is no relative movement between the object and the areas peripheral to the object. 
     In accordance with particular example embodiments, an imaging system, method, and computer readable medium fills in blind spot regions in images of peripheral areas of a vehicle. Intrinsic or extrinsic blind spot data is used together with vehicle movement data including vehicle speed information, steering angle information, and other information relating to the vehicle as necessary or desired to determine one or more portions of a series of images of the peripheral areas that include or will include one or more blind spot obstructions in the images. Portions of the images predicted to be obstructed at a future time, portions of overlapping images obtained concurrently from plural sources, or both, are obtained and used as an image patch. A blind spot region restoration unit operates to stitch together a restored image without the blind spot obstruction by merging one or more image patches into portions of the images that include the one or more blind spot obstructions. 
     In accordance with a further particular example embodiment, an imaging system fills in blind spot regions in peripheral areas of an associated moving vehicle. The system includes a processor and a non-transient memory operatively coupled with the processor. Also operatively coupled with the processor, the system includes an image obtaining unit, a predicted blind spot region determining unit and a current blind spot region restoration unit. The non-transient memory stores intrinsic blind spot data representative of a blind spot region of a peripheral area of the associated vehicle, and movement data representative of a speed of movement of the associated vehicle. The image obtaining unit is configured to receive first image data representative of a first image of the peripheral area of the associated vehicle captured at a first time, and to receive second image data representative of a second image of the peripheral area of the associated vehicle captured at a second time after the first time. The predicted blind spot region determining unit is configured to determine, at the first time, a portion of the first image predicted to be in the blind spot region at the second time in accordance with the intrinsic blind spot data and the movement data. The current blind spot region restoration unit is configured to generate, at the second time, restored second image data by merging: i) a selected portion of the first image data corresponding to the portion of the first image predicted to be in the blind spot region at the second time, with ii) the second image data. The generated restored second image data is representative of a restored second image of the peripheral area of the associated vehicle at the second time unobstructed by the blind spot region. 
     In accordance with yet a further particular example embodiment, the image obtaining unit includes first and second cameras. The first camera is configured to capture, at a first time from a first perspective relative to the associated vehicle, the first image data representative of the first image of the peripheral area of the associated vehicle, and to capture, at a second time from the first perspective, the second image data representative of the second image of the peripheral area of the associated vehicle at the second time. The second camera is configured to capture, at the first time from a second perspective relative to the associated vehicle different than the first perspective, auxiliary image data representative of an auxiliary image of the peripheral area of the associated vehicle. In one form, a blind spot overlap region determining unit operatively coupled with the processor is configured to determine a first portion of the first image in the blind spot region at the first time, and a first portion of the auxiliary image overlapping the first portion of the first image in the blind spot region at the first time. Thereafter, the current blind spot region restoration unit generates restored first image data by merging: i) a first portion of the auxiliary image data corresponding to the first portion of the auxiliary image overlapping the first portion of the first image in the blind spot region at the first time, with ii) the first image data at a first portion of the first image data corresponding to the first portion of the first image in the blind spot region at the first time, wherein the generated restored first image data is representative of a restored first image of the peripheral area of the associated vehicle at the first time unobstructed by the blind spot region. In another form, the blind spot overlap region determining unit determines a first portion of the auxiliary image overlapping the portion of the first image predicted to be in the blind spot region at the second time. Thereafter, the current blind spot region restoration unit generates the restored second image data by merging: i) a first portion of the auxiliary image data corresponding to the first portion of the auxiliary image overlapping the portion of the first image predicted to be in the blind spot region at the second time, with ii) the second image data at a first portion of the second image data corresponding to the first portion of the second image in the blind spot in accordance with the intrinsic blind spot data and the movement data, wherein the generated restored second image data is representative of a restored second image of the peripheral area of the associated vehicle at the second time unobstructed by the blind spot region. 
     In accordance with yet a still further particular example embodiment, a method in an associated imaging system fills in a blind spot region in a peripheral area of an associated vehicle. In accordance with the method, intrinsic blind spot data representative of a blind spot region of a peripheral area of the associated vehicle is stored in a non-transient memory operatively coupled with a processor of the associated imaging system. Movement data representative of a speed of movement of the associated vehicle is stored in the non-transient memory. The method includes obtaining, at a first time, first image data using an image obtaining unit operatively coupled with the processor of the associated imaging system, the first image data being representative of a first image of the peripheral area of the associated vehicle captured at a first time. The method further includes obtaining, at the first time, auxiliary image data using the image obtaining unit operatively coupled with the processor of the associated imaging system, the auxiliary image data being representative of an auxiliary image of the peripheral area of the associated vehicle captured at the first time. The method further includes determining, by a blind spot overlap region determining unit operatively coupled with the processor and in accordance with the intrinsic blind spot data and the movement data: a first portion of the first image in the blind spot region at the first time; and a first portion of the auxiliary image overlapping the first portion of the first image in the blind spot region at the first time. The method still further includes generating, by a current blind spot region restoration unit operatively coupled with the processor, restored first image data by merging: i) a first portion of the auxiliary image data corresponding to the first portion of the auxiliary image overlapping the first portion of the first image in the blind spot region at the first time, with ii) the first image data at a first portion of the first image data corresponding to the first portion of the first image in the blind spot region at the first time, wherein the generated restored first image data is representative of a restored first image of the peripheral area of the associated vehicle at the first time unobstructed by the blind spot region. 
     In accordance with yet a still further particular example embodiment, a method in an associated imaging system fills in a blind spot region in a peripheral area of an associated vehicle. In accordance with the method, intrinsic blind spot data representative of a blind spot region of a peripheral area of the associated vehicle is stored in a non-transient memory operatively coupled with a processor of the associated imaging system. Movement data representative of a speed of movement of the associated vehicle is stored in the non-transient memory. The method includes obtaining, at a first time, first image data using an image obtaining unit operatively coupled with the processor of the associated imaging system, the first image data being representative of a first image of the peripheral area of the associated vehicle at the first time. The method further includes obtaining, at a second time after the first time, second image data using the image obtaining unit, the second image data being representative of a second image of the peripheral area of the associated vehicle at a second time after the first time. The method further includes determining, at the first time by a predicted blind spot region determining unit operatively coupled with the processor of the associated imaging system, a portion of the first image predicted to be in the blind spot region at the second time in accordance with the intrinsic blind spot data and the movement data. The method further includes generating, at the second time by a current blind spot region restoration unit operatively coupled with the processor of the associated imaging system, restored second image data by merging: i) a selected portion of the first image data corresponding to the portion of the first image predicted to be in the blind spot region at the second time, with ii) the second image data, wherein the generated restored second image data is representative of a restored second image of the peripheral area of the associated vehicle at the second time unobstructed by the blind spot region. 
     In accordance with a still yet further particular example embodiment, a non-transitory computer readable storage medium stores one or more sequences of instructions executable by one or more processors for filling in a blind spot region in a peripheral area of an associated vehicle. The instructions, when executed by the one or more processors, cause the one or more processors to execute steps including storing intrinsic blind spot data representative of a blind spot region of a peripheral area of the associated vehicle in a non-transient memory operatively coupled with a processor of the associated imaging system, and storing movement data representative of a speed of movement of the associated vehicle in the non-transient memory. The instructions when executed cause the additional step of obtaining, at a first time, first image data using an image obtaining unit operatively coupled with the processor of the associated imaging system, the first image data being representative of a first image of the peripheral area of the associated vehicle at the first time. The instructions when executed cause the additional step of obtaining, at a second time after the first time, second image data using the image obtaining unit, the second image data being representative of a second image of the peripheral area of the associated vehicle at a second time after the first time. The instructions when executed cause the additional step of determining, at the first time by a predicted blind spot region determining unit operatively coupled with the processor of the associated imaging system, a portion of the first image predicted to be in the blind spot region at the second time in accordance with the intrinsic blind spot data and the movement data. The instructions when executed cause the additional step of generating, at the second time by a current blind spot region restoration unit operatively coupled with the processor of the associated imaging system, restored second image data by merging: i) a selected portion of the first image data corresponding to the portion of the first image predicted to be in the blind spot region at the second time, with ii) the second image data, wherein the generated restored second image data is representative of a restored second image of the peripheral area of the associated vehicle at the second time unobstructed by the blind spot region. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The foregoing and other features of the embodiments herein will become apparent to those skilled in the art to which the present imaging system, method, and computer readable medium filling in blind spot regions in images of peripheral areas of a vehicle relate upon reading the following description with reference to the accompanying drawings, in which: 
         FIG. 1 a    is a perspective view of a vehicle in which an imaging camera system according to an embodiment is applied, showing an installation condition of a single first camera on the vehicle; 
         FIG. 1 b    is a schematic top plan view showing a generalized obstructed field of view of the first camera installed in the vehicle of  FIG. 1   a;    
         FIG. 1 c    is a schematic top plan view showing the generalized obstructed field of view of the first camera installed in the vehicle of  FIG. 1 a    in combination with the field of view of a second camera installed in the vehicle of  FIG. 1   a;    
         FIG. 2 a    is a schematic plan view illustration of a series of first and second images obtained by the imaging camera system of  FIGS. 1 a  and 1 b    at respective first and second times; 
         FIG. 2 b    is a schematic plan view illustration of a first image obtained by the imaging camera system of  FIG. 1 c    at a first time; 
         FIG. 2 c    is a schematic plan view illustration of a series of first and second images obtained by the imaging camera system of  FIG. 1 c    at respective first and second times; 
         FIG. 3  is a block diagram that illustrates a computer system suitable for executing the example embodiments herein, and upon which the example embodiments may be implemented; 
         FIG. 4  is a block diagram of a set of code modules stored in a memory of the computer system of  FIG. 3  and executable by a processor of the computer system for filling in blind spot regions in images of peripheral areas of a vehicle according to example embodiments; 
         FIGS. 5 a -5 d    illustrate a process of registration of a pair of adjacent images showing a joining at the seams between the images to merge or otherwise paste images together in accordance with an embodiment; and 
         FIG. 6  is a flow chart illustrating an overall method of filling in blind spot regions in images of peripheral areas of a vehicle in accordance with an example embodiment; 
         FIG. 7  is a flow chart illustrating an overall method of filling in blind spot regions in images of peripheral areas of a vehicle in accordance with a further example embodiment; and 
         FIGS. 8 a -8 d    show simple illustrative example images selectively generated by the embodiments herein. 
     
    
    
     DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS 
     With reference now to the drawing Figures, wherein the showings are for purposes of describing the embodiments only and not for purposes of limiting same, example embodiments herein relate to a surround view camera system  100  for vehicles having one or more cameras placed at selected positions on the vehicles, and to systems and methods for providing unobstructed images from the surround view camera systems. The embodiments herein are also applicable to the placement of the one or more cameras at various positions on the vehicles such as, for example, at the corners of the vehicles, and at corners of various one or more substantially rectangular portions of the vehicles. It is to be appreciated that the embodiments herein are applicable to many different camera placement schemes and to many different camera types having various fields of view, resolution, and other characteristics as may be necessary or desired. 
     As representative of the embodiments and with reference in particular first to  FIG. 1 a   , the perspective top view shown there illustrates a vehicle  110  in which a surround view camera system  100  according to an embodiment is applied, showing an arrangement of cameras  120 ,  130  supported at selected positions on the body  140  of the vehicle  110 .  FIGS. 1 b  and 1 c    are schematic top plan views showing a field of view of each camera  120 ,  130  installed on the body  140  of the vehicle  110  of  FIG. 1   a.    
     Although a basic delivery panel-type truck  112  is shown as the vehicle  110  in  FIGS. 1 a -1 c   , the vehicle  110  can be any other vehicle such as a regular passenger automobile or any other type of mobile or stationary apparatus having an overall generally rectangular shape. Also, of course the illustrated panel-type truck  112  vehicle  110  illustrated is configured to be located on and move relative to the ground such as a road surface or the like, other vehicles that would be benefitted by the surround view camera systems  100  of the various embodiments herein include various stationary surveillance systems or the like, or robotic devices such as automatic guided vehicles (AGVs) configured to be located on and move relative to the floor of a factory or manufacturing facility or the like. In the following explanations of the example embodiments, the ground is assumed to be a horizontal plane for purposes of planarity calculations and the like, and the “height” of these one or more cameras indicates a height with respect to the ground. 
     As shown in  FIG. 1 a   , cameras (image pickup devices)  120  and  130  are mounted at the uppermost parts of the vehicle  110 . The first camera  120  is placed for example at a right uppermost forward part of the cargo portion of the vehicle  110 , and the second camera  130  is placed for example at the left upper most top part of the cab of the vehicle  110 . The cameras  120  and  130  simply may be referred to herein and below in this and in the embodiments to be described as an image obtaining unit, the cameras, or each camera, without necessarily being distinguished from each other. Although the cameras are arranged as shown, their positions may equivalently be exchanged in accordance with the embodiment into several relative positions such as, for example, by locating the first camera  120  at the left upper most forward part of the vehicle  110 , and locating the second camera  130  at the right upper most rearward part of the vehicle  110 . The field of view of the first camera  120  is obstructed by a side view mirror  125  affixed to the passenger door of the vehicle. The field of view of the second camera, however, is unobstructed because of its relative placement on top of the cab of the vehicle. 
     It is to be appreciated that the cameras  120  and  130  are arranged on the vehicle  110  such that an optical axis of the first camera  120  is directed obliquely downward at an angle of about 15°-45° towards the forward and side directions of the vehicle  110  and, similarly, an optical axis of the second camera  130  is directed obliquely downward at an angle of about 15°-45° towards the frontward direction of the vehicle  110 . It is to be further appreciated that the field of view of each image obtaining unit or camera, i.e. spatial region of which each camera can capture an image, is generally hemispherical in overall shape and is quite large. More particularly, in the embodiment illustrated, the cameras  120  and  130  each have a field of view of about 180° and are commonly referred to in the industry as “fish eye” lens cameras or imagers. The cameras  120  and  130  may be of the type Blue Eagle DC3K-1-LVD available from Silicon Micro Systems, or any similar cameras available from other sources and having the desired characteristics of the embodiments. 
       FIG. 1 b    shows the usable field of view  122  of the first camera  120  viewed from above, in other words, the portion of the generally hemispherical field of view of the forward/side directed first image obtaining unit or camera  120  as projected onto the generally planar ground surface at the front of the vehicle  110 . The remaining portion of the generally hemispherical field of view of the forward/side directed first camera  120  is, in general, obstructed by the gross front shape of the vehicle  110  in that region. In addition, the mirror  125  blocks an area  140  of the field of view  135  wherein an area such as for example area  150  potentially surrounding an object (not shown) near the vehicle is currently blocked by the mirror as viewed in the drawing, and a second area  152 , though currently visible, will be blocked by the mirror in the future such as, for example, at a next image frame captured by the camera  120 . 
     Similarly,  FIG. 1 c    shows the usable field of view  132  of the second camera  130  viewed from above, in other words, the portion of the generally hemispherical field of view of the rearward and rearward directed second camera as projected onto the ground surface at the front of the vehicle  110 . The field of view  132  of the second camera  130  overlaps the field of view  135  the first camera  120  so that, in the two (2) camera embodiment illustrated, the area such as for example the area  150  blocked by the mirror relative to the first camera  120  is directly observable by the second camera  120 . That is, the area  150  is simultaneously blocked from view relative to the first camera  120  while being viewable by the second camera  130 . 
     It is to be appreciated that, in the illustrated embodiment, the forward directed first camera  120  primarily captures an image of a subject or object, including the road surface, located within a predetermined region in the front and to the right side of the vehicle  110 . Similarly in the illustrated embodiment, the forward directed second camera  130  primarily captures an image of a subject or object, including the road surface, positioned within a predetermined region in front and to the left and right sides of the vehicle  110 . The fields of view  135  and  132  of the cameras  120  and  130 , however, overlap in a region. The overlap region is referred to in this embodiment and in other embodiments herein as the common or overlapping fields of view. 
       FIG. 2 a    is a schematic plan view illustration in accordance with an embodiment using a single camera imaging over a time period, of a series of first  210  and second  212  images obtained by the imaging camera system of  FIGS. 1 a  and 1 b    at respective first  202  and second  204  times as the vehicle moves forward relative to the areas peripheral to the vehicle. In accordance with an embodiment, an image obtaining unit operatively coupled with a processor is configured to receive first image data  220  representative of the first image  210  of the peripheral area shown generally at  201  of the associated vehicle captured at the first time  202 . The first image data  220  may be pixel data, for example, representative of the first image  210  of the peripheral area. Similarly, the image obtaining unit is configured to receive second image data  222  representative of the second image  212  of the peripheral area  201  of the associated vehicle captured at the second time  204  after the first time  202 . Also similarly, the second image data  222  may be pixel data, for example, representative of the second image  212  of the peripheral area. As shown, the first image  210  is blocked by an obstruction (such as the mirror  125 ) resulting in a blind spot region  206  in the first image  210 . 
     A predicted blind spot region determining unit described in greater detail below is configured to determine, at the first time  202 , a portion  211  of the first image  210  predicted to be in the blind spot region  206 ′ at the second time  204  in accordance with the intrinsic blind spot data and the movement data. A current blind spot region restoration unit also to be described in greater detail below is configured to generate, at the second time  204 , restored second image data  210 ′ by merging a selected portion  221  of the first image data corresponding to the portion  211  of the first image predicted to be in the blind spot region  206 ′ at the second time  204 , with the second image data  222 . In the example embodiment, the generated restored second image data  210 ′ is representative of a restored second image  212  of the peripheral area of the associated vehicle at the second time  204  unobstructed by the blind spot region  206 . The generated restored second image data  210 ′ comprises first A and second B portions of the second image  212 , combined with the portion  211  of the first image predicted to be in the blind spot region  206 ′ at the second time  204 . The portion is, essentially, “stitched” into the generated restored second image data  210 ′ between the first A and second B portions of the second image  212 , thereby eliminating the blind spot in the restored second image data  210 ′ relative to the original second image data  210  obtained at the second time  204 . 
       FIG. 2 b    is a schematic plan view illustration in accordance with a further embodiment of a first image obtained by the imaging camera system of  FIG. 1 c    at a first time. The imaging camera system of  FIG. 1 c    includes two (2) image obtaining units; namely first and second cameras  120 ,  130  with overlapping fields of view, wherein the cameras obtain their respective images simultaneously, including the overlapping region. The first camera  120  is configured to capture, at the first time  202  from a first perspective relative to the associated vehicle, first image data  220  representative of the first image  210  of the peripheral area  201  of the associated vehicle. Similarly, the second camera  130  is configured to capture, at the same first time  202  from a second perspective relative to the associated vehicle different than the first perspective, auxiliary image data  240  representative of an auxiliary image  230  of the peripheral area  201  of the associated vehicle. A blind spot overlap region determining unit to be described below in greater detail is configured to determine, at the first time  202  in accordance with intrinsic blind spot data, a first portion  213  of the first image  210  in the blind spot  205  at the first time  202 , and a first portion  232  of the auxiliary image overlapping the first portion  213  of the first image  210  in the blind spot  205  at the first time  202 . 
     With continued reference to  FIG. 2 b   , a current blind spot region restoration unit to be described in greater detail below is configured to generate restored first image data  260  by merging a first portion  242  of the auxiliary image data corresponding to the first portion  232  of the auxiliary image overlapping the first portion  213  of the first image  210  in the blind spot  205  at the first time  202 , with the first image data  210  at a first portion of the first image data corresponding to the first portion of the first image in the blind spot region at the first time  202 . The generated restored first image data  260  is representative of a restored first image  270  of the peripheral area of the associated vehicle at the first time unobstructed by the blind spot region. The restored first image data  260  is, essentially, the first portion  232  of the auxiliary image stitched into the first image data  220  at a location formerly taken by the first portion  213  of the first image  210  in the blind spot  205 , thereby eliminating the blind spot in the restored first image  270  at the first time  202 . 
       FIG. 2 c    is a schematic plan view illustration in accordance with a further embodiment of a series of first and second images obtained by the imaging camera system of  FIG. 1 c    at respective first and second times. The imaging camera system of  FIG. 1 c    includes two (2) image obtaining units; namely first and second cameras  120 ,  130  with overlapping fields of view. The first camera  120  is configured to capture, at the first time  202  from a first perspective relative to the associated vehicle, first image data  220  representative of the first image  210  of the peripheral area  201  of the associated vehicle. Similarly, the second camera  130  is configured to capture, at the first time  202  from a second perspective relative to the associated vehicle different than the first perspective, auxiliary image data  240  representative of an auxiliary image  230  of the peripheral area  201  of the associated vehicle. A blind spot overlap region determining unit to be described below in greater detail is configured to determine, in accordance with the intrinsic blind spot data and the movement data, a first portion  272  of the auxiliary image  230  overlapping the portion  206  of the first image  210  predicted to be in the blind spot region at the second time  204 . 
     The current blind spot region restoration unit is configured to generate the restored second image data  270  by merging a first portion  272  of the auxiliary image data corresponding to the first portion of the auxiliary image overlapping the portion  206  of the first image  210  predicted to be in the blind spot region at the second time  204 , with the second image data at a first portion of the second image data corresponding to the first portion of the second image in the blind spot in accordance with the intrinsic blind spot data and the movement data. The generated restored second image data  270  is representative of a restored second image  280  of the peripheral area of the associated vehicle at the second time unobstructed by the blind spot region. 
       FIG. 3  illustrates an example of a computer system  300  upon which an example embodiment may be implemented. Computer system  300  is suitable for implementing the functionality of any of the surround view camera system  100  described herein. 
     Computer system  300  includes a bus  302  or other communication mechanism for communicating information and a processor  304  coupled with bus  302  for processing information. Computer system  300  also includes a main memory  306 , such as random access memory (RAM) or other dynamic storage device coupled to bus  302  for storing information and instructions to be executed by processor  304 . Main memory  306  also may be used for storing a temporary variable or other intermediate information during execution of instructions to be executed by processor  304 . Computer system  300  further includes a read only memory (ROM)  308  or other static storage device coupled to bus  302  for storing static information and instructions for processor  304 . A storage device  310 , such as a magnetic disk, optical disk, SD memory and/or flash storage, is provided and coupled to bus  302  for storing information and instructions. 
     Computer system  300  may be coupled via bus  302  to a user interface  311 . The user interface  311  may comprise a display  312 , such as a cathode ray tube (CRT) or liquid crystal display (LCD), for displaying information to a user of the vehicles described above in connection with the example embodiments. The user interface  311  may further comprise, as necessary or desired, an input device  314 , such as a keyboard including alphanumeric and other keys is coupled to bus  302  for communicating information and command selections to processor  304 . Another type of user input device is cursor control  316 , such as a mouse, a trackball, cursor direction keys, and/or a touchscreen for communicating direction information and command selections to processor  304  and for controlling cursor movement on display  312 . This input device typically has two degrees of freedom in two axes, a first axis (e.g., x) and a second axis (e.g., y) that allows the device to specify positions in a plane. The input device  314  may be provided, for example, to enable technicians to perform various servicing on the computer system  300  such as to perform software or firmware updates, to download data, or the like. In these embodiments, the input device  314  may be unavailable to the user or simply disabled for access and/or use by the vehicle operator. 
     An aspect of the example embodiment is related to the use of computer system  300  to implement the vehicle surround view camera systems of the example embodiments herein to provide filling-in of blind spot regions in areas surrounding a vehicle such as a cargo truck, and to provide a system and methods for calibrating and using such surround view camera systems. According to an example embodiment, the steps of the filling-in of the blind spot regions of areas surround an item such as a vehicle, truck, or the like are provided by computer system  300  in response to processor  304  executing one or more sequences of one or more instructions contained in main memory  306 . Such instructions may be read into main memory  306  from another computer-readable medium, such as storage device  310 . Execution of the sequence of instructions contained in main memory  306  causes processor  304  to perform the process steps described herein. One or more processors in a multi-processing arrangement may also be employed to execute the sequences of instructions contained in main memory  306 . In alternative embodiments, hard-wired circuitry may be used in place of or in combination with software instructions to implement an example embodiment. Thus, embodiments described herein are not limited to any specific combination of hardware circuitry and software. 
     According to an example embodiment, a non-transitory computer readable storage medium  306 ,  308 ,  310  stores one or more sequences of instructions for filling in a blind spot region in a peripheral area of an associated vehicle, wherein said instructions, when executed by one or more processors  304  of the computer system  300 , cause the one or more processors  304  to execute steps. The steps include, for example, storing intrinsic blind spot data representative of a blind spot region of a peripheral area of the associated vehicle in a non-transient memory operatively coupled with a processor of the associated imaging system, and storing movement data representative of a speed of movement of the associated vehicle in the non-transient memory. The steps further include obtaining, at a first time, first image data using an image obtaining unit operatively coupled with the processor of the associated imaging system, the first image data being representative of a first image of the peripheral area of the associated vehicle at the first time, and obtaining, at a second time after the first time, second image data using the image obtaining unit, the second image data being representative of a second image of the peripheral area of the associated vehicle at a second time after the first time. The steps also include determining, at the first time by a predicted blind spot region determining unit operatively coupled with the processor of the associated imaging system, a portion of the first image predicted to be in the blind spot region at the second time in accordance with the intrinsic blind spot data and the movement data. The steps of the example embodiment yet still further include generating, at the second time by a current blind spot region restoration unit operatively coupled with the processor of the associated imaging system, restored second image data by merging: i) a selected portion of the first image data corresponding to the portion of the first image predicted to be in the blind spot region at the second time, with ii) the second image data, wherein the generated restored second image data is representative of a restored second image of the peripheral area of the associated vehicle at the second time unobstructed by the blind spot region. 
     According to another example embodiment, a non-transitory computer readable storage medium  306 ,  308 ,  310  stores one or more sequences of instructions for filling in a blind spot region in a peripheral area of an associated vehicle, wherein said instructions, when executed by one or more processors  304  of the computer system  300 , cause the one or more processors  304  to execute steps. The steps include, for example, storing intrinsic blind spot data representative of a blind spot region of a peripheral area of the associated vehicle in a non-transient memory operatively coupled with a processor of the associated imaging system. The steps further include obtaining, at a first time, first image data using an image obtaining unit operatively coupled with the processor of the associated imaging system, the first image data being representative of a first image of the peripheral area of the associated vehicle captured at a first time, and obtaining, at the first time, auxiliary image data using the image obtaining unit operatively coupled with the processor of the associated imaging system, the auxiliary image data being representative of an auxiliary image of the peripheral area of the associated vehicle captured at the first time. The steps still further include determining, by a blind spot overlap region determining unit operatively coupled with the processor and in accordance with the intrinsic blind spot data: a first portion of the first image in the blind spot region at the first time; and a first portion of the auxiliary image overlapping the first portion of the first image in the blind spot region at the first time. Yet further, the steps include generating, by a current blind spot region restoration unit operatively coupled with the processor, restored first image data by merging: i) a first portion of the auxiliary image data corresponding to the first portion of the auxiliary image overlapping the first portion of the first image in the blind spot region at the first time, with ii) the first image data at a first portion of the first image data corresponding to the first portion of the first image in the blind spot region at the first time, wherein the generated restored first image data is representative of a restored first image of the peripheral area of the associated vehicle at the first time unobstructed by the blind spot region. 
     The term “computer-readable medium” as used herein refers to any medium that participates in providing instructions to processor  304  for execution. Such a medium may take many forms, including but not limited to non-volatile media, and volatile media. Non-volatile media include, for example, optical or magnetic disks, such as storage device  310 . Volatile media include dynamic memory, such as main memory  306 . As used herein, tangible media may include volatile and non-volatile media. Common forms of computer-readable media include, for example, floppy disk, a flexible disk, hard disk, magnetic cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASHPROM, CD, DVD or any other memory chip or cartridge, or any other medium from which a computer can read. 
     Various forms of computer-readable media may be involved in carrying one or more sequences of one or more instructions to processor  304  for execution. For example, the instructions may initially be borne on a magnetic disk of a remote computer. The remote computer can load the instructions into its dynamic memory and send the instructions over a telephone line using a modem. A modem local to computer system  300  can receive the data on the telephone line and use an infrared transmitter to convert the data to an infrared signal. An infrared detector coupled to bus  302  can receive the data carried in the infrared signal and place the data on bus  302 . Bus  302  carries the data to main memory  306  from which processor  304  retrieves and executes the instructions. The instructions received by main memory  306  may optionally be stored on storage device  310  either before or after execution by processor  304 . 
     Computer system  300  also includes a communication interface  318  coupled to bus  302 . Communication interface  318  provides a two-way data communication coupling computer system  300  to a VPN link  320  that is connected to an Enterprise (or other predefined network  322 . In an example embodiment, VPN link  320  is a wireless link. The communication interface  318  also provides a two-way data communication coupling the computer system  300  with a video link  330  that is connected with a camera set  332  including one (1), two (2), or more cameras. In the example embodiments herein, the one (1) or two (2) cameras include for example cameras  120  and  130 . 
       FIG. 4  is a block diagram of a processing module set  400  including a plurality of modules for providing unobstructed images from the surround view camera systems by selectively filling in portions of the images in accordance with the embodiments herein. Each of the modules is executable by the processor  304  described above in connection with  FIG. 3 . In accordance with an embodiment, one or more or all of the modules or units  402 - 460  described below in connection with the processing module set  400  may comprise hardware in the form of the computer system  300  described above in connection with  FIG. 3 . For simplicity, scalability, and adaptability for change such as to implement upgrades or the like, in accordance with the example embodiments, the processor  304  of the surround view camera system is configured to execute software code in the form of one or more software modules or functional units including an image obtaining unit  402  operatively coupled with the processor. The image obtaining unit  402  is configured to receive first image data representative of a first image of the peripheral area of the associated vehicle captured at a first time, and to receive second image data representative of a second image of the peripheral area of the associated vehicle captured at a second time after the first time. A predicted blind spot region determining unit  404  is operatively coupled with the processor and is configured to determine, at the first time, a portion of the first image predicted to be in the blind spot region at the second time in accordance with the intrinsic blind spot data and the movement data. A current blind spot region restoration unit  406  is operatively coupled with the processor and is to generate, at the second time, restored second image data by merging: i) a selected portion of the first image data corresponding to the portion of the first image predicted to be in the blind spot region at the second time, with ii) the second image data. In that way and in accordance with the example embodiment, the generated restored second image data is representative of a restored second image of the peripheral area of the associated vehicle at the second time unobstructed by the blind spot region. 
     In the example embodiment, an image output unit  410  is operatively coupled with the processor and is configured to generate a visual representation of the restored second image on an associated human readable display device  312  in accordance with the generated restored second image data. 
     In addition, for purposes of determining the relative movement between the vehicle and the imaging system, the processing module set  400  further includes, in accordance with an embodiment, a vehicle movement determining unit  412  operatively coupled with the processor  304 . The vehicle movement determining unit  412  is configured to generate the movement data in accordance with the vehicle speed and vehicle steering angle signals. In a particular embodiment, the vehicle movement determining unit  412  includes a vehicle speed determining unit  414  receiving a vehicle speed signal representative of a speed of the associated vehicle, and a vehicle steering determining unit  416  receiving a vehicle steering angle signal representative of a steering angle of the associated vehicle. The vehicle speed determining unit  414  may be, in an embodiment, a speed sensor generating the vehicle speed signal representative of the speed of the associated vehicle, and the vehicle steering determining unit  416  may be a steering angle sensor generating the vehicle steering angle signal representative of a steering angle of the associated vehicle. Additional sensors, such as yaw rate sensors or vehicle body angle sensors, may also provide input. 
     With continued reference to  FIG. 4 , the processing module set  400  further includes, in accordance with an embodiment, planarity determination and assessment units  420 ,  422 . The planarity determination unit  420  is operatively coupled with the processor  304  and is configured to determine, in accordance with a planarity determination model, such as will be described below, a first planarity measure of the first portion of the first image predicted to be in the blind spot region at the second time, and a second planarity measure of the second image data. The planarity determination unit  420  operates on the in accordance essentially with the set of predictive, homography, and contrast measure equations. In addition, the planarity determination and assessment units  420 ,  422  are operable cooperatively in the example embodiment. In this regard, the planarity assessment unit  422  is operatively coupled with the processor  304  and configured to determine a planarity conformance level of the first and second planarity measures relative to a predetermined planarity metric, and to selectively generate a planarity conformance signal  424  in accordance with the determined planarity conformance level. It is to be appreciated that, in accordance with the example embodiment, the planarity determination unit  420  is configured to determine the first and second planarity measures in accordance with a planarity assessment algorithm. It is further to be appreciated that, in accordance with the example embodiment, the current blind spot region restoration unit  406  is configured to selectively merge default blank image data representative of a predetermined neutral image with the second image data in accordance with a logical level of the planarity conformance signal. 
     In an embodiment the image obtaining unit  402  includes one or more cameras  450 ,  452  configured to capture image data as a sequence of image data frame sets, wherein each image data frame set of the frame sets being acquired in succession following a predetermined time interval. In the example embodiment, a time between the first time and the second time is an integer multiple of the predetermined frame time interval. In particular, in the example embodiment including a single or only one (1) camera, the camera  450  of the image obtaining unit  402  is configured to capture, at a first time from a first perspective relative to the associated vehicle, the first image data representative of the first image of the peripheral area of the associated vehicle, and to capture at a second time from the same first perspective relative to the vehicle, the second image data representative of the second image of the peripheral area of the associated vehicle at the second time. In this embodiment, a Class II Similarity transformation model is used. Similarity transformation (or more simply a similarity) is an isometry composed with tropic scaling. In the case of a Euclidean transformation composed with a scaling reflection) the similarity has matrix representation: 
               (           x   ′               y   ′             1         )     =       [           s   ⁢           ⁢   cos   ⁢           ⁢   θ             -   s     ⁢           ⁢   sin   ⁢           ⁢   θ           t   x               s   ⁢           ⁢   sin   ⁢           ⁢   θ           s   ⁢           ⁢   cos   ⁢           ⁢   θ           t   y             0       0       1         ]     ⁢     (         x           y           1         )             
Can be written more concisely in block form as:
 
     
       
         
           
             
               x 
               ′ 
             
             = 
             
               
                 
                   H 
                   s 
                 
                 ⁢ 
                 x 
               
               = 
               
                 
                   [ 
                   
                     
                       
                         sR 
                       
                       
                         t 
                       
                     
                     
                       
                         
                           0 
                           ⊤ 
                         
                       
                       
                         1 
                       
                     
                   
                   ] 
                 
                 ⁢ 
                 x 
               
             
           
         
       
     
     The scaler s represents the isotropic scaling. A similarity transformation is also shown as an equi-form transformation, because it preserves “shape” (form). A planar similarity transformation has four degrees of freedom, the scaling accounting for one degree of freedom than a Euclidean transformation. A similarity can be computed two point correspondences. 
     The similarity transformation model is used in the single camera embodiment to predict the location x′, y′ of portions of an image at a time in the future based on the location x, y of those portions of an image at a present time using an angle of vehicle movement θ and a translation movement of the vehicle in first x and second y directions in first t x  and second t y  amounts of movement. In the elapsed time between frames, the ground moves a distance equal to the vehicle speed times the elapsed time. The vehicle changes direction by an angle equal to the yaw rate (which may be measured) times the elapsed time. These values—the distance and rotation—are inputs to the image prediction equation, where they are the translation and rotation values respectively. 
     In the embodiments herein including two (2) image obtaining units such as a pair of cameras for example, the first camera  450  of the image obtaining unit  402  is configured to capture, at a first time from a first perspective relative to the associated vehicle, the first image data representative of the first image of the peripheral area of the associated vehicle. Correspondingly the second camera  452  is configured to capture, at the same first time, from a second perspective relative to the associated vehicle different than the first perspective, auxiliary image data representative of an auxiliary image of the peripheral area of the associated vehicle. 
     In the example embodiment including two (2) cameras, the auxiliary image data representative of an auxiliary image of the peripheral area of the associated vehicle provides valuable information for providing unobstructed images from the surround view camera systems by selectively filling in portions of the images. In this regard, however, the processing module set  400  further includes a blind spot overlap region determining unit  460  operatively coupled with the processor  304 . 
     Use of homography matrix techniques is advantageous in mapping or otherwise performing view point conversion between the auxiliary image data representative of the auxiliary image of the peripheral area of the associated vehicle as obtained by the second camera into a selected portion of the first image data representative of the first image of the peripheral area of the associated vehicle obtained by the first camera. In addition, perspective skew removal is accomplished in accordance with the example embodiment using homography techniques. The embodiments may selectively perform a calibration process for determining the homography matrix parameters for each camera  450 ,  452  in the two (2) camera embodiment, wherein the homography matrix H determined separately for each camera provides the least skew error in the resultant image from the respective camera and, ultimately, the least amount of skew between camera pairs in the composite resultant image to be displayed to the operator on the display device  312  such as will be described in greater detail below. 
     An initial or a “default” homography matrix for each active camera is obtained after calibration. In the two (2) camera embodiments herein, the homography matrix is used for converting an original image to a converted image by the planar projective transformation. In particular, planar projective transformation is used to map or otherwise perform view point conversion between the auxiliary image data representative of the auxiliary image of the peripheral area of the associated vehicle as obtained by the second camera into a selected portion of the first image data representative of the first image of the peripheral area of the associated vehicle obtained by the first camera. Coordinates at each point on the original image are represented by (x, y) and coordinates of each point on the converted image are represented by (X, Y). The relation between the coordinates (x, y) on the original image and the coordinates (X, Y) on the converted image is expressed by the first of the formulas below using a homography matrix H. The homography matrix H is a 3×3 matrix and each of the elements of the matrix is expressed by h 1  to h 9 . Moreover, h 9 =1 (the matrix is normalized such that h 9 =1). From the formula, the relation between the coordinates (x, y) and the coordinates (X, Y) also can be expressed by the following formulas. 
     
       
         
           
             
               
                 
                   
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             = 
             
               
                 
                   
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     The homography matrix H is uniquely determined if corresponding relations of the coordinates of four points between the original image and the converted image are known. Once the homography matrix H is obtained, it becomes possible to convert a given point on the original image to a point on the converted image according to the above formulas. In the example embodiments herein an initial or nominal homography matrix H is received and stored in the memory  310  for later use and/or further improvement by one or more subsequent calibration steps or the like. 
     With regard to obtaining the initial homography matrix, error values are obtained or otherwise derived related to the homography related error values. In accordance with an example embodiment, a numerical optimization function is performed to find homography matrix values that make the total registration error smaller. In one embodiment, the numerical optimization step includes a Simplex Method to improve the fidelity between the obtained image and square or rectangular templates. During the calculations, the homography matrix values are adjusted in accordance with the result obtained during the numerical optimization. Next, the raw image data is un-skewed with or using the improved homography matrix values. This image is then in turn once again tested against a known regular square or rectangular grid image to determine improved homography related calibration parameter values. 
     In the two (2) camera embodiments herein, an undistorted and filled-in bird&#39;s eye view is generated using the determined homography matrix and optimized lens distortion characteristic parameters wherein areas otherwise blocked by mirrors or other vehicle parts are seamlessly presented to the vehicle operator. 
     In a first example embodiment of the system having two (2) cameras, the blind spot overlap region determining unit  460  is configured to determine, at the first time in accordance with the intrinsic blind spot data and the movement data a first portion of the first image in the blind spot region at the first time, and a first portion of the auxiliary image overlapping the first portion of the first image in the blind spot region at the first time. Thereafter, the current blind spot region restoration unit  406  is operable to generate restored first image data by merging: i) a first portion of the auxiliary image data corresponding to the first portion of the auxiliary image overlapping the first portion of the first image in the blind spot region at the first time, with ii) the first image data at a first portion of the first image data corresponding to the first portion of the first image in the blind spot region at the first time. In accordance with this embodiment, the intrinsic blind spot data is used but there is no need for the movement data because the images, particularly the overlapping regions of the images, are acquired or otherwise obtained substantially simultaneously. In any case, the thereby generated restored first image data is representative of a restored first image of the peripheral area of the associated vehicle at the first time unobstructed by the blind spot region. 
     In a second example embodiment of the system having two (2) cameras, the blind spot overlap region determining unit  460  is configured to determine, in accordance with the intrinsic blind spot data and the movement data, a first portion of the auxiliary image overlapping the portion of the first image predicted to be in the blind spot region at the second time. Thereafter, the current blind spot region restoration unit  406  is operable to generate the restored second image data by merging: i) a first portion of the auxiliary image data corresponding to the first portion of the auxiliary image overlapping the portion of the first image predicted to be in the blind spot region at the second time, with ii) the second image data at a first portion of the second image data corresponding to the first portion of the second image in the blind spot in accordance with the intrinsic blind spot data and the movement data. The thereby generated restored second image data is representative of a restored second image of the peripheral area of the associated vehicle at the second time unobstructed by the blind spot region. 
       FIGS. 5 a -5 d    illustrate a process of registration of a pair of adjacent images showing a joining at the seam between the images. The Figures illustrate an uncompensated example of a composite image  500  formed of a pair of images  552 ,  554  obtained for example by adjacent cameras  120 ,  130  or by a single camera  120  for purposes of stitching portions of an image into another image. As can be seen, the images are well represented, but the overlap therebetween is maladjusted at a seam  556 . 
     A method for merging the images  552 ,  556  includes a step of extracting edges from the images and determines edge thresholds for the first camera of the n th  camera pair and, similarly, the method includes extracting edges and performing thresholds analysis and/or comparisons relative to the second camera of the n th  camera pair. The first edge threshold can be determined by standard methods, such as finding a histogram minimum or Otsu&#39;s method. More particularly, edges are extracted in the image of the first image of the n th  camera pair, and an edge threshold is determined in the image. Correspondingly, edges are extracted in the image of the second camera of the n th  camera pair and, at a next step, edge thresholds are obtained in the image of the second camera of the n th  camera pair. In accordance with the example embodiments, the edge threshold for the second image is chosen such that as many or slightly more edge pixels are found in the registration area. This slight possible surfeit of edge pixels implies that all the edge pixels of the first image should have matching counterparts when properly registered. That is, the second set of edge pixels should be a superset of the first edge pixel set. A measure that quantifies the number of edge pixels of the first image are matched is therefore appropriate used in the example embodiments. Thereafter, the error of the camera pair or image mal-registration is determined using techniques, such as, for example, the percentage of pixels overlapping at the same locations, Haussdorf distance, Jacard distance, or similar measures for distances between point sets. 
       FIG. 5 b    illustrates an example of a composite image  500 ′ formed by the pair of images  552 ,  554  and compensated by executing the compensation on the initial composite image  500  once. Similarly,  FIG. 5 c    illustrates an example of a composite image  500 ″ formed by the pair of images  552 ,  554  and compensated by executing the compensation on the composite image  500 ′ once further. As can be seen, the images are well represented, and the seam  556  at the overlap area is visually non-existent. The registration area is advantageously chosen such that it covers both sides of a possible seam or image stitching location. 
       FIG. 5 d    illustrates an example of a composite image  500 ″ formed by the pair of images  552 ′,  556 ′ method for merging the images  552 ′,  556 ′ includes a step of extracting image contrast edges at points P 1 -P 8  from the images and determines edge contrast thresholds for the first camera of the nth camera pair and, similarly, the method includes extracting edges and performing thresholds analysis and/or comparisons relative to the second camera of the nth camera pair. 
     In accordance with the example embodiment, a quantity Match Measure is calculated to determine registration quality or match between a patch and its surroundings. The Match Measure is determined and compared against a predetermined maximum value to determine an amount one or both of the images  552 ′,  556 ′ should be adjusted in contrast, wherein: 
     
       
         
           
             
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               ⁢ 
               
                   
               
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     If all differences indicate an, on average, lighter or darker patch compared with the surroundings, the average difference is added to all pixels in the patch area. This addition makes the patch boundaries meld more seamlessly with its surroundings. 
     In view of the foregoing structural and functional features described above, a methodology  600  in accordance with an example embodiment will be better appreciated with reference to  FIG. 6 . While, for purposes of simplicity of explanation, the methodology  600  of  FIG. 6  is shown and described as executing serially, it is to be understood and appreciated that the example embodiment is not limited by the illustrated order, as some aspects could occur in different orders and/or concurrently with other aspects from that shown and described herein. Moreover, not all illustrated features may be required to implement the methodology  600  in accordance with the example embodiments. The methodology  600  described herein is suitably adapted to be implemented in hardware, software, and/or any one or more combination(s) thereof. For example, the methodology  600  may be implemented by logic and/or by computer system  300  ( FIG. 3 ) using the functional units  402 - 460  of the processing module set  400  of  FIG. 4  and in any or all of the surround view camera systems  100  such as the system described above. 
     In general, surround views systems give a vehicle driver a display of the environment around a vehicle. Multiple cameras are used to produce this view, first with adjacent images having overlapping regions being “stitched” together, then with the overall registration of the composite image being optimized. In accordance with the example embodiments herein and for best view quality and obstacle detection performance, the systems and methods herein provide enhanced filling in of blind spot regions in images of peripheral areas of a vehicle including one, two or more cameras disposed on the vehicle and coupled with the surround view camera system described above. 
     With reference now to  FIG. 6 , a method  600  in an associated imaging system for filling in a blind spot region in a peripheral area of an associated vehicle is illustrated. 
     In a first step  610 , intrinsic blind spot data representative of a blind spot region of a peripheral area of the associated vehicle is stored in a non-transient memory operatively coupled with a processor of the associated imaging system. 
     At step  620 , movement data representative of a speed of movement of the associated vehicle is stored in the non-transient memory. 
     The method further includes obtaining, at a first time in step  630 , first image data using an image obtaining unit operatively coupled with the processor of the associated imaging system. The first image data is representative of a first image of the peripheral area of the associated vehicle at the first time. 
     The method further includes obtaining, in step  640  at a second time after the first time, second image data using the image obtaining unit. The second image data is representative of a second image of the peripheral area of the associated vehicle at a second time after the first time. 
     At step  650 , using a predicted blind spot region determining unit at the first time, a portion of the first image predicted to be in the blind spot region at the second time is determined in accordance with the intrinsic blind spot data and the movement data. 
     Restored second image data is generated at step  660  at the second time by a current blind spot region restoration unit operatively coupled with the processor of the associated imaging system. In accordance with the embodiment illustrated, the restored second image data is generated by merging: i) a selected portion of the first image data corresponding to the portion of the first image predicted to be in the blind spot region at the second time, with ii) the second image data. In the embodiment, the generated restored second image data is representative of a restored second image of the peripheral area of the associated vehicle at the second time unobstructed by the blind spot region. 
     In further view of the foregoing structural and functional features described above, a further methodology  700  in accordance with an example embodiment will be better appreciated with reference to  FIG. 7 . While, for purposes of simplicity of explanation, the methodology  700  of  FIG. 7  is shown and described as executing serially, it is to be understood and appreciated that the example embodiment is not limited by the illustrated order, as some aspects could occur in different orders and/or concurrently with other aspects from that shown and described herein. Moreover, not all illustrated features may be required to implement the methodology  700  in accordance with the example embodiments. The methodology  700  described herein is suitably adapted to be implemented in hardware, software, and/or any one or more combination(s) thereof. For example, the methodology  700   600  may be implemented by logic and/or by computer system  300  ( FIG. 3 ) using the functional units  402 - 460  of the processing module set  400  of  FIG. 4  and in any or all of the surround view camera systems  100  such as the system described above. 
     In general, surround views systems give a vehicle driver a display of the environment around a vehicle. Multiple cameras are used to produce this view, first with adjacent images having overlapping regions being “stitched” together, then with the overall registration of the composite image being optimized. In accordance with the example embodiments herein and for best view quality and obstacle detection performance, the systems and methods herein provide enhanced filling in of blind spot regions in images of peripheral areas of a vehicle including one, two or more cameras disposed on the vehicle and coupled with the surround view camera system described above. 
     With reference now to  FIG. 7 , a method  700  in an associated imaging system for filling in a blind spot region in a peripheral area of an associated vehicle is illustrated. 
     In a first step  710 , intrinsic blind spot data representative of a blind spot region of a peripheral area of the associated vehicle is stored in a non-transient memory operatively coupled with a processor of the associated imaging system. 
     At step  720 , movement data representative of a speed of movement of the associated vehicle is stored in the non-transient memory. 
     The method further includes obtaining, at  730 , at a first time, first image data using an image obtaining unit operatively coupled with the processor of the associated imaging system. In the illustrated embodiment, the first image data is representative of a first image of the peripheral area of the associated vehicle captured at a first time. 
     At step  740 , at the first time, auxiliary image data is obtained using the image obtaining unit operatively coupled with the processor of the associated imaging system. The auxiliary image data is representative of an auxiliary image of the peripheral area of the associated vehicle captured at the first time. 
     The method further includes, at step  750 , determining, by a blind spot overlap region determining unit operatively coupled with the processor and in accordance with the intrinsic blind spot data and, selectively, the movement data: a first portion of the first image in the blind spot region at the first time; and a first portion of the auxiliary image overlapping the first portion of the first image in the blind spot region at the first time. In the examples described above, the movement data is useful in the embodiment described with reference to  FIG. 2 c    for making the blind spot prediction, but the movement data is somewhat not useful in the embodiment described with reference to  FIG. 2 b    wherein the images are obtained simultaneously, including the overlap area and the blind spot area. 
     Yet still further, the method  700  includes, at step  760 , generating, by a current blind spot region restoration unit operatively coupled with the processor, restored first image data by merging: i) a first portion of the auxiliary image data corresponding to the first portion of the auxiliary image overlapping the first portion of the first image in the blind spot at the first time, with ii) the first image data at a first portion of the first image data corresponding to the first portion of the first image in the blind spot at the first time. In the embodiment the generated restored first image data is representative of a restored first image of the peripheral area of the associated vehicle at the first time unobstructed by the blind spot region. 
       FIG. 8 a    shows an image  810  of an area  812  adjacent to a vehicle in accordance with an embodiment. The area  812  has a pattern  814  illustrated as a simply cross-hatch for ease of discussion. The image  810  illustrated is a complete image without any obstructions and/or blind spots. 
       FIG. 8 b    shows an image  820  including an obstructed region  816  obstructing a portion of the image  810  of  FIG. 8   a.    
       FIG. 8 c    shows a restored image  830  in accordance with embodiments herein wherein the image  820  of  FIG. 8 b    including the obstructed region  816  obstructing the portion of the image  810  of  FIG. 8 a   , has been remediated with the addition of a blind spot fill-in portion  818 . As can be seen, the blind spot fill-in portion  818  is stitched into the image  820  of  FIG. 8 b    seamlessly. 
       FIG. 8 d    shows an unrestored image  840  in accordance with embodiments herein wherein the image  820  of  FIG. 8 b    including the obstructed region  816  obstructing the portion of the image  810  of  FIG. 8 a   , cannot reasonably be remediated with the addition of the blind spot fill-in portion  818 . Rather, as can be seen, the blind spot fill-in portion  818  of  FIG. 8 c    is instead replaced with a darkened or greyed out region  850  which is useful the vehicle operator in that the operator is not presented with poor quality restored images which might cause confusion or the like. 
     Described above are example embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies, but one of ordinary skill in the art will recognize that many further combinations and permutations of the example embodiments are possible. Accordingly, this application is intended to embrace all such alterations, modifications and variations that fall within the spirit and scope of the appended claims interpreted in accordance with the breadth to which they are fairly, legally and equitably entitled.