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

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.

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.