The 3D surround view on Jetson Tegra TX2 platform - this is my research project for master thesis.
The essence of the project is to build a good quality stitching of images from 4 cameras and project the image onto a mesh model with acceptable performance. The project work on ~20 fps with constraints from the connection adaptor 30 fps due the synchronize frames mode.
Cite(related paper):
@incollection{gasparyan2022real,
title={Real-Time 3D Surround View System for Vehicle Based on Panoramic Stitching Image},
author={Gasparyan, Sokrat and Vasilianov, Georgii},
booktitle={Networked Control Systems for Connected and Automated Vehicles: Volume 1},
pages={85--93},
year={2022},
publisher={Springer}
}The 3D bowl view:
The top view:
The hardware setup:
| Device type | Device name |
|---|---|
| Camera | e-CAM30A CUMI0330 MOD |
| Connection adaptor board | e-CAM130 TRICUTX2 ADAPTOR |
| Connecting wires | High-speed 2-lane MIPI CSI-2 |
| Embedded platform | Jetson Tegra TX2 |
| Tripod | - |
The software setup:
- OS - Linux Ubuntu LTS v16.04
- C++ 14, Python 3.6, GLSL, C CUDA
- CMake >= v3.16
- CUDA Toolkit v9.0
- V4L2 driver
- OpenGL ES v3.2
- OpenMP
The data processing flowchart
