3D Reconstruction for Optimal Representation of Surroundings in Automotive HMIs, Based on Fisheye Multi-Camera Systems

The aim of this thesis is the development of new concepts for environmental 3D reconstruction in automotive surround-view systems where information of the surroundings of a vehicle is displayed to a driver for assistance in parking and low-speed manouvering. The proposed driving assistance system represents a multi-disciplinary challenge combining techniques from both computer vision and computer graphics. This work comprises all necessary steps, namely sensor setup and image acquisition up to 3D rendering in order to provide a comprehensive visualization for the driver. Visual information is acquired by means of standard surround-view cameras with fish eye optics covering large fields of view around the ego vehicle. Stereo vision techniques are applied to these cameras in order to recover 3D information that is finally used as input for the image-based rendering. New camera setups are proposed that improve the 3D reconstruction around the whole vehicle, attending to different criteria. Prototypic realization was carried out that shows a qualitative measure of the results achieved and prove the feasibility of the proposed concept