Visual unification method and device for special-shaped vehicles oriented to automatic driving

According to the visual unification method and device for the special-shaped vehicle for automatic driving, after the virtual camera is calibrated, the images collected by other real cameras are converted to the images corresponding to the virtual camera, so that internal and external parameters of image data of vehicle-mounted cameras of different vehicles are unified, and the visual unification effect of the special-shaped vehicle is improved. Therefore, data distribution differences caused by differences of cameras of different vehicles can be shielded, a unified visual space is formed, consistency of spatial relations of the vehicle-mounted cameras of different vehicles is achieved, increase of calculation complexity can be avoided, reduction of recognition effects and dependence on calibration data caused by changes of internal and external parameters of the cameras are reduced, and the recognition efficiency is improved. The intelligent processing efficiency of the image data is greatly improved; meanwh