Device and method for surround view camera system with reduced manhattan effect distortion

A surround view camera system for a vehicle, comprising:

• a first imaging device mounted on the vehicle and configured to generate first image data at a first time of a surroundings of the vehicle;
• a second imaging device mounted on the vehicle and configured to generating second image data of the surroundings of the vehicle at a second time different from the first time;
• a perception sensor system configured to detect a plurality of objects in the surroundings of the vehicle;
• a processor operably connected to the first imaging device, the second imaging device, and the perception sensor system, the processor configured to:
• receive the first image data and the second image data;
• identify a predetermined object of the plurality of objects detected by the perception sensor system;
• identify distorted object data in the second image data, the distorted object data corresponding to the predetermined object;
• identify non-distorted object data in the first image data, the non-distorted object data corresponding to the predetermined object;
• and
• generate composite surround view image data by replacing the distorted object data with the non-distorted object data, the composite surround view image data corresponding to a composite surround view image of the surroundings of the vehicle,
• wherein the vehicle is operated to avoid the predetermined object based on the composite surround view image data.