Machine surround view system and method for generating 3-dimensional composite surround view using same

1. A surround view system for a machine, the surround view system including:

one or more devices configured to generate image data of surroundings of the machine;

one or more processors configured to:

generate an initial 3-dimensional composite surround view by projecting the image data on a virtual model corresponding to the machine,

wherein the virtual model has a 3-dimensional shape based on initial calibration position data;

detect a first object and a second object in a target field of view of the machine;

filter, based on a size of the first object and a size of the second object, data for the first object and the second object to determine to consider the first object and ignore the second object;

modify, to obtain a modified 3-dimensional shape, the 3-dimensional shape of the virtual model based on a position of the first object after filtering data for the first object and the second object; and

generate an updated 3-dimensional composite surround view by projecting the image data on the virtual model having the modified 3-dimensional shape.

2. The surround view system of claim 1 , wherein, when modifying the 3-dimensional shape of the virtual model, the one or more processors are configured to:

modify an inner diameter of the virtual model and an outer diameter of the virtual model independently.

3. The surround view system of claim 1 , wherein, when modifying the 3-dimensional shape of the virtual model, the one or more processors are configured to:

modify an inner diameter of the virtual model, and

modify an outer diameter of the virtual model as a function of the inner diameter.

4. The surround view system of claim 1 ,

wherein the virtual model is a bowl-shaped model, and

wherein the modified 3-dimensional shape is asymmetrical.

5. The surround view system of claim 1 , wherein at least one of a radar, a laser, LiDAR, video, or ultrasound is used to detect the first object.

6. The surround view system of claim 5 , wherein the one or more processors are configured to:

generate object position data corresponding to the position of the first object.

7. The surround view system of claim 1 , further including:

a user display configured to display the updated 3-dimensional composite surround view.

8. A method including:

generating image data of surroundings of a machine;

generating an initial 3-dimensional composite surround view by projecting the image data on a virtual model,

wherein the virtual model has a 3-dimensional shape based on an initial calibration position data;

detecting a first object and a second object in a target field of view of the machine;

filtering, based on a size of the first object and a size of the second object, data for the first object and the second object to determine to consider the first object and ignore the second object;

modifying, to obtain a modified 3-dimensional shape, the 3-dimensional shape of the virtual model based on object position data, corresponding to the first object, after filtering the data for the first object and the second object;

generating an updated 3-dimensional composite surround view by projecting the image data on the virtual model having a modified 3-dimensional shape; and

providing, for display, the updated 3-dimensional composite surround view on a user display.

9. The method of claim 8 , wherein modifying the 3-dimensional shape includes:

modifying an inner diameter of the virtual model and an outer diameter of the virtual model independently.

10. The method of claim 8 , wherein modifying the 3-dimensional shape includes:

modifying an inner diameter of the virtual model, and

modifying an outer diameter of the virtual model as a function of the inner diameter.

11. The method of claim 8 , wherein modifying the 3-dimensional shape of the virtual model includes:

generating an asymmetrical shape of the virtual model.

12. The method of claim 8 , wherein the updated 3-dimensional composite surround view is generated and displayed while the machine is in motion.

13. The method of claim 8 , further including:

generating the object position data.

14. An image processing system for generating a 3-dimensional composite surround view, the image processing system including:

a memory; and

a processor configured to:

receive image data of surroundings of a machine;

generate an initial 3-dimensional composite surround view by projecting the image data on a virtual model;

receive object position data corresponding to a first object and a second object in a target field of view of the machine;

filter, based on a size of the first object and a size of a second object, the object position data corresponding to the first object and the second object to determine to consider the first object and ignore the second object;

modify, to obtain a modified 3-dimensional shape, the 3-dimensional shape of the virtual model based on a position of the first object after filtering the object position data corresponding to the first object and the second object; and

generate an updated 3-dimensional composite surround view by projecting the image data on the virtual model having the modified 3-dimensional shape.

15. The image processing system of claim 14 , wherein, when modifying the 3-dimensional shape of the virtual model, the processor is configured to:

modify an inner diameter of the virtual model and an outer diameter of the virtual model independently.

16. The image processing system of claim 14 , wherein, when modifying the 3-dimensional shape of the virtual model, the processor is configured to:

modify an inner diameter of the virtual model, and

modify an outer diameter of the virtual model as a function of the inner diameter.

17. The image processing system of claim 14 , wherein the modified 3-dimensional shape is asymmetrical.

18. The image processing system of claim 14 , further including:

at least four cameras configured to generate the image data.

19. The image processing system of claim 18 , wherein each of the four cameras includes a fisheye lens.

20. The image processing system of claim 14 , wherein the processor is further configured to:

transmit the updated 3-dimensional composite surround view to a user display.