A display device of an autonomous vehicle is controlled based on data collected from sensors located in or on the vehicle. The display device is used to present one or more images to a driver and/or passengers of the autonomous vehicle. The display device can be, for example, a windshield and/or other window of the vehicle. Image data can be, for example, transformed to improve visual perception by passengers in the vehicle when the images are displayed on a curved shape of the windshield.

In one implementation, a method involves tessellating a surface of a 3D object by identifying vertices having 3D positions. The method transforms the 3D positions into positions for a first sphere-based projection for a left eye viewpoint and positions for a second sphere-based projection for a right eye viewpoint. Transforming the 3D positions of the vertices involves transforming the vertices based on a user orientation (i.e., camera position) and differences left and right eye viewpoints (e.g., based on interaxial distance and convergence angle). The method further renders a stereoscopic 360 rendering of the 3D object based on the first sphere-based projection for the left eye viewpoint and the second sphere-based projection for the right eye viewpoint. For example, an equirectangular representation of the first sphere-based projection can be combined with an equirectangular representation of the second sphere-based projection to provide a file defining a stereoscopic 360 image.

The present application provides an image projection system and a calibration method of projected image. The calibration method comprises: displaying an original image data as a first image having a first boundary characteristic; projecting the first image as a projected image; analyzing a difference between a boundary shape of the projected image and the first boundary characteristic which is unadjusted; according to the difference between the boundary shape of the projected image and the unadjusted first boundary characteristic, adjusting the first boundary characteristic until the boundary shape of the projected image is similar to the unadjusted first boundary characteristic; and recording the first boundary characteristic at the time when the boundary shape of the projected image is similar to the unadjusted first boundary characteristic as a second boundary characteristic, wherein the first boundary characteristic is the shape of at least one displaying boundary line around the first image.

Techniques and systems are described for mapping 360-degree video data to a truncated square pyramid shape. A 360-degree video frame can include 360-degrees' worth of pixel data, and thus be spherical in shape. By mapping the spherical video data to the planes provided by a truncated square pyramid, the total size of the 360-degree video frame can be reduced. The planes of the truncated square pyramid can be oriented such that the base of the truncated square pyramid represents a front view and the top of the truncated square pyramid represents a back view. In this way, the front view can be captured at full resolution, the back view can be captured at reduced resolution, and the left, right, up, and bottom views can be captured at decreasing resolutions. Frame packing structures can also be defined for 360-degree video data that has been mapped to a truncated square pyramid shape.

Implementations provide method that includes: accessing data encoding the one or more images sized and shaped for presentation on a square or rectangular surface; providing the first set of data for warping by one or more computer processors such that each of the one or more images is projected onto a respective trapezoidal surface having a first base and a second base that is longer than the first base, wherein the first base is arranged to be closer to a viewer than the second base, and wherein a first portion of each image is projected further away from the viewer than a second portion of each image; and presenting each of the projected one or more images on the respective trapezoidal surface, wherein the first portion of each projected image is presented by the first base and the second portion of each projected image is presented by the second base.

Implementations provide method that includes: accessing data encoding the one or more images sized and shaped for presentation on a square or rectangular surface; providing the first set of data for warping by one or more computer processors such that each of the one or more images is projected onto a respective trapezoidal surface having a first base and a second base that is longer than the first base, wherein the first base is arranged to be closer to a viewer than the second base, and wherein a first portion of each image is projected further away from the viewer than a second portion of each image; and presenting each of the projected one or more images on the respective trapezoidal surface, wherein the first portion of each projected image is presented by the first base and the second portion of each projected image is presented by the second base.

The present application is applicable to the field of image processing, and provides an image splicing method and apparatus, a computer-readable storage medium, a computer device, and cameras. The method comprises: calculating a first mapping table corresponding to a lens of each camera according to internal parameters of the lens of each camera, and according to the first mapping table, projecting images collected by the corresponding lens of each camera at the same time onto a unit sphere to obtain multiple first spherical images corresponding to the lens of each camera; according to external parameters of the lens of each camera and the distance from the centers of circles formed by optical centers of the lens of multiple cameras and a preset plane above or below the circles, calculating a second mapping table corresponding to the lens of each camera, mapping the multiple first spherical images to a unified unit sphere according to the second mapping table, and splicing the first spherical images to obtain a panoramic spherical image. The present application can obtain more natural and realistic picture spliced at the top and bottom.

The present application is applicable to the field of image processing, and provides an image splicing method and apparatus, a computer-readable storage medium, a computer device, and cameras. The method comprises: calculating a first mapping table corresponding to a lens of each camera according to internal parameters of the lens of each camera, and according to the first mapping table, projecting images collected by the corresponding lens of each camera at the same time onto a unit sphere to obtain multiple first spherical images corresponding to the lens of each camera; according to external parameters of the lens of each camera and the distance from the centers of circles formed by optical centers of the lens of multiple cameras and a preset plane above or below the circles, calculating a second mapping table corresponding to the lens of each camera, mapping the multiple first spherical images to a unified unit sphere according to the second mapping table, and splicing the first spherical images to obtain a panoramic spherical image. The present application can obtain more natural and realistic picture spliced at the top and bottom.

A method of geometric correction can be designated by an intuitive and simple operation, with respect to a projected image projected by a projector. The projector includes a projection unit that projects an image on a projection target, and a correction unit that performs the geometric correction of a projected image projected by the projection unit, based on a deformation amount in a predetermined direction and deviation of the deformation amount in the predetermined direction with respect to the projection target.

A display device of an autonomous vehicle is controlled based on data collected from sensors located in or on the vehicle. The display device is used to present one or more images to a driver and/or passengers of the autonomous vehicle. The display device can be, for example, a windshield and/or other window of the vehicle. Image data can be, for example, transformed to improve visual perception by passengers in the vehicle when the images are displayed on a curved shape of the windshield.