Generating top view of vehicle with image harmonization based on camera orientation

A method for generating a top view of an area surrounding a vehicle, the method comprising:

• receiving images from a plurality of vehicle cameras, wherein each vehicle camera is configured to view a respective area of ground outside of the vehicle;
• projecting the images into corresponding projected image areas, each projected image area representing a top view of a portion of a respective one of the images, wherein each projected image area has a plurality of regions, and wherein at least one of the regions of one of the projected image areas overlaps with another of the regions of another of the projected image areas to define overlapping portions;
• segmenting each projected image area into a respective plurality of segments, wherein the overlapping portions include some of the segments of one projected image area and some of the segments of another projected image area to define overlapping segments;
• determining an angular orientation of at least one of the plurality of vehicle cameras relative to the ground;
• and
• harmonizing the projected image areas by altering brightness values or color values within the overlapping segments to generate the top view of the area surrounding the vehicle, wherein the harmonizing is performed based on the determined angular orientation.

A vehicle camera system for generating a top view of an area surrounding a vehicle, the system comprising:

• a plurality of vehicle cameras, each vehicle camera configured to view a respective region of ground outside of the vehicle, wherein portions of at least some of the regions overlap with portions of another of the regions to define overlapping portions;
• at least one processor coupled to the vehicle cameras and programmed to:
• receive images generated by the vehicle cameras,
• project the images into corresponding projected image areas, each projected image area representing a top view of a portion of a respective one of the images, wherein each projected image area has a plurality of regions, and wherein at least one of the regions of one of the projected image areas overlaps with another of the regions of another of the projected image areas to define overlapping portions,
• segment each projected image area into a respective plurality of segments, wherein the overlapping portions include some of the segments of one projected image area and some of the segments of another projected image area to define overlapping segments,
• execute a first harmonization model to harmonize the projected image areas based on brightness values or color values within the overlapping segments,
• receive an angular orientation of at least one of the plurality of vehicle cameras relative to the ground, and
• execute a second harmonization model to harmonize the projected image areas based on the brightness values or color values within the overlapping segments, wherein the execution of the second harmonization model is performed in response to a determination that the angular orientation of the at least one of the plurality of vehicles cameras exceeds a threshold.