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The 3D surround view on Jetson Tegra TX2 platform - this is my research project for master thesis.

The essence of the project is to build a good quality stitching of images from 4 cameras and project the image onto a mesh model with acceptable performance. The project work on ~20 fps with constraints from the connection adaptor 30 fps due the synchronize frames mode. This is a research project, and for a production surround view application, I recommend using the Intel/libxcam library.

Further research topics for this surround view system:

Image quality:

AI integration

  • Pedestrian detection
  • Obstacles detection
  • Automatic parking system

The 3D bowl view:

The top view:

The 3D hemisphere view:

The hardware setup:

Device type Device name
Camera e-CAM30A CUMI0330 MOD
Connection adaptor board e-CAM130 TRICUTX2 ADAPTOR
Connecting wires High-speed 2-lane MIPI CSI-2
Embedded platform Jetson Tegra TX2
Tripod -

The software setup:

  • OS - Linux Ubuntu LTS v16.04
  • C++ 14, Python 3.6, GLSL, C CUDA
  • CMake >= v3.16
  • CUDA Toolkit v9.0
  • V4L2 driver
  • OpenGL ES v3.2
  • OpenMP

The data processing flowchart

The 3d party library:

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  • C++ 84.2%
  • Python 6.6%
  • Cuda 5.1%
  • GLSL 2.5%
  • CMake 1.6%