Trailer dynamic look-around splicing and stabilizing method based on grid deformation

The invention discloses a trailer dynamic look-around splicing and stabilizing method based on grid deformation, which is characterized in that in the driving process of a trailer, due to the non-fixed connection characteristic of a trailer body, each camera image can have completely independent jittering, and when the turning angle between a trailer head and the trailer body is changed, the camera image is not changed. The relative position of the non-fixed camera in an image coordinate system changes accordingly; according to the invention, through a feature point motion generation module, a local feature motion propagation module, a time domain motion trail and splicing vector field generation module, a stabilization-splicing joint optimization module and the like, image distortion and deformation caused by a moving target or depth-of-field change are inhibited, and time domain motion trails and space domain alignment vectors of all cameras are represented and optimized under a unified frame. The image str