Abstract:

Kinematic model of vehicle reversing was built, and the algorithms of real\|time reverse trajectory equation were derived according to camera calibration theory. With the help of  acquired rotational angle of vehicle steering wheels when vehicles are reversing, vehicles reversing trajectory in world coordinate is transformed to the trajectory in image coordinate, and then the image of the trajectory, which is transformed via the radial distortion model, is displayed. Drivers will reverse by means of observing reversing trajectory in the screen, which is very helpful to beginners especially. Experimental results show that the reversing trajectory, which is calculated by the algorithms in this paper, has high accuracy and certain practical value.

Key words: computer application, visual reversing, algorithm of reversed car trajectory