Around view mapping system based on dynamic projection curved surface and implementation method

The invention discloses an all-round mapping system based on a dynamic projection curved surface and an implementation method, and the method comprises the steps: S1, building a three-dimensional coordinate system of a vehicle, and calibrating the internal and external parameters of a distance sensor and a camera device; s2, constructing a virtual camera right above the vehicle according to the internal and external parameters of the camera device; s3, the virtual camera is used for conducting overlook transparency on the vehicle, and an overlook view F is obtained; s4, determining an envelope line of the vehicle and constructing a dynamic projection curved surface; and S5, mapping the top view F to the dynamic projection curved surface to obtain a final panoramic image. 本发明公开一种基于动态投影曲面的环视映射系统及实现方法，包括S1：建立车辆的三维坐标系，并对距离传感器和摄像装置的内外参数进行标定；S2：根据摄像装置的内外参数在车辆正上方构建虚拟摄像头；S3：利用虚拟摄像头对车辆进行俯视透明，得到俯视图F；S4：确定车辆的包络线并进行动态投影曲面的构建；S5：将俯视图F映射到动态投影曲面上，得到最终的全景图像。