Method for generating an output image showing a motor vehicle and an environmental region of the motor vehicle in a predetermined target view, camera system as well as motor vehicle

Abstract

The invention relates to a method for generating an output image with a predefined target view showing a motor vehicle (1) and an environmental region (4) of the motor vehicle (1) based on at least partially overlapping raw images (RC1, RC2, RC3, RC4) captured by at least two vehicle-side cameras (5a, 5b, 5c, 5d), comprising the steps of: specifying respective camera-specific pixel density maps (PDM1a, PDM1b, PDM2a, PDM2b), which each describe an image-region dependent distribution of a number of pixels of the raw image (R1 to R4) captured by the associated camera (5a to 5d) contributing for the generation of the output image, spatially adaptive filtering of the raw images (RC1 to RC4) based on the pixel density map (PDM1a to PDM2b) specific to the associated camera (5a to 5d), which indicates an image region-dependent extent of the filtering, identifying mutually corresponding image areas (B1a, B1b, B2a, B2b, B3a, B3b, B4a, B4b) in the at least partially overlapping raw images (RC1 to RC4) of the at least two cameras (5a to 5d), spatially adaptive filtering of the image area (B1a to B4b) of the raw image (RC1 to RC4) of the one camera (5a to 5d) based on the pixel density map (PDM1a to PDM2b) specific to the respective other camera (5a to 5d) for reducing a sharpness difference between the corresponding image areas (B1a to B4b), remapping the filtered raw images (RC1 to RC4) to an image surface corresponding to the target view for generating remapped filtered raw images (R1, R2, R3, R4), generating the output image by combining the remapped filtered raw images (R1 to R4). The invention moreover relates to a camera system (3) as well as to a motor vehicle (1).

Dependencies are inferred from the claim text.