Model-based method for 360 degree surround view using cameras and radars mounted around a vehicle

1. A method of stitching panoramic optical images around a vehicle, comprising:

receiving a plurality of optical images from a plurality of image sensors mounted on the vehicle of a plurality of objects surrounding the vehicle;

receiving a plurality of radar images from a plurality of radar sensors mounted on the vehicle indicating at least one direction and at least one distance of at least one of the plurality objects surrounding the vehicle at a plurality of directions;

fitting the plurality of radar images to a two dimensional curve fit surrounding the vehicle;

linking the plurality of optical images of the plurality of objects surrounding the vehicle to the plurality of radar images;

overlapping optical images of the plurality of objects surrounding the vehicle;

identifying seams between the plurality of objects surrounding the vehicle within the plurality of optical images, wherein the seams are placed through areas lacking texture; and

stitching the plurality of optical images based on the plurality of radar images at the seams.

2. The method of stitching panoramic optical images of claim 1 , wherein the stitching removes redundant optical images.

3. The method of stitching panoramic optical images of claim 1 , further comprising constructing a three dimensional mesh model from a ground surrounding the vehicle and having a mesh model outline following the radar two dimensional curve fit.

4. The method of stitching panoramic optical images of claim 1 , further comprising constructing a three dimensional mesh model from a around surrounding the vehicle and having a mesh model contour following the radar two dimensional curve fit.

5. The method of stitching panoramic optical images of claim 3 , further comprising projecting the plurality of optical images onto the three dimensional mesh model.

6. The method of stitching panoramic optical images of claim 5 , further comprising identifying seams having a minimal texture between the projected plurality of optical images.

7. The method of stitching panoramic optical images of claim 5 , further comprising blending the identified seams.

8. A method of stitching a 360 degree optical image, comprising:

receiving a plurality of optical images of a plurality of surrounding objects, wherein the plurality of optical images comprises the 360 degree optical image;

receiving a plurality of radar images indicating at least one direction and at least one distance of at least one of the plurality surrounding objects at a plurality of directions;

fitting the plurality of radar images to a two dimensional curve fit surrounding the vehicle;

linking the plurality of optical images of the plurality of surrounding objects to the plurality of radar images;

overlapping optical images of the plurality of surrounding objects within the plurality of optical images;

identifying seams between the plurality of surrounding objects within the plurality of optical images, wherein the seams are placed through areas lacking texture; and

stitching the plurality of optical images based on the plurality of radar images at the seams.

9. The method of stitching the 360 degree optical image of claim 8 , further comprising constructing a three dimensional mesh model from a ground level and having a mesh model outline following the radar two dimensional curve fit.

10. The method of stitching the 360 degree optical image of claim 9 , further comprising projecting the plurality of optical images onto the three dimensional mesh model.

11. The method of stitching the 360 degree optical image of claim 10 , further comprising identifying seams having a minimal texture between the projected plurality of optical images.

12. The method of stitching the 360 degree optical image of claim 11 , further comprising blending the identified seams.

13. A method of stitching panoramic optical images, comprising:

receiving a plurality of optical images of a plurality of surrounding objects, wherein the plurality of optical images comprises a panoramic image;

overlapping optical images of the plurality of surrounding objects within the plurality of optical images;

identifying seams between the plurality of surrounding objects within the plurality of optical images, wherein the seams are placed through areas lacking texture;

receiving a plurality of radar images indicating at least one direction and at least one distance of at least one of the plurality surrounding objects at a plurality of directions;

fitting the plurality of radar images to a two dimensional curve fit surrounding the vehicle;

linking the plurality of optical images of the plurality of surrounding objects to the plurality of radar images; and

stitching the plurality of optical images based on the plurality of radar images at the seams.

14. The method of stitching panoramic optical images of claim 13 , further comprising:

fitting plurality of radar images is a two dimensional curve fit of the plurality of surrounding objects;

constructing a three dimensional mesh model from a ground level and having a mesh model outline following the radar two dimensional curve fit; and

projecting the plurality of optical images onto the three dimensional mesh model.

15. The method of stitching panoramic optical images of claim 14 , further comprising:

identifying seams having a minimal texture between the projected plurality of optical images; and

blending the identified seams.