UVSS: Unified Video Stabilization and Stitching for Surround View of Tractor-Trailer Vehicles

Chunhui Zhu, Yi Yang*, Hao Liang, Zhipeng Dong, Mengyin Fu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

Automotive surround-view camera systems have been commonly employed in automated driving to aid in near-field sensing and other perception tasks. Due to the large size of the body and the presence of multiple blind spots, panoramic surround-view systems are particularly crucial for tractor-trailer vehicles. However, the non-rigid body of tractor-trailer vehicles introduces pose changes between cameras, rendering traditional calibration-based methods inadequate. Additionally, cameras mounted separately on the tractor and the trailer will experience independent vibrations, resulting in undesirable shakiness in captured videos. In this paper, we propose a unified video stabilization and stitching method to address these challenges, which can smooth the unsteady frames and align the images from moving cameras. Delving into video stabilization techniques, we extend mesh-based motion model for unified stitching and leverage deep-learning based modules to handle complex real-world scenarios. Moreover, we design a new optimization framework to estimate the optimal displacements of mesh vertices, enabling simultaneous stabilization and stitching of frames. The experimental results, obtained by public datasets and videos captured from a model tractor-trailer vehicle, demonstrate that our approach outperforms previous methods and is highly effective in real-world applications.

Original languageEnglish
Title of host publication2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages9014-9020
Number of pages7
ISBN (Electronic)9781665491907
DOIs
Publication statusPublished - 2023
Event2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 - Detroit, United States
Duration: 1 Oct 20235 Oct 2023

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Country/TerritoryUnited States
CityDetroit
Period1/10/235/10/23

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