In order to improve the safety of driving

the panoramic parking system is studied and improved. The system consists of three components

which are fish-eye cameras

an image processing unit and a displayer. First

fish-eye cameras are used to capture the ultra-wide-angle images around the car. Then four vertical views around the car are obtained by the fish-eye camera calibration

the bucket correction and the perspective transformation based on OpenCV. Reference points registration method is proposed to obtain a 360° panoramic bird’s eye view

which is showed on displayer

according to the vertical views. Since the proposed method is hardly affected by the environment and not dependent on hardware performance heavily

it is more suitable for embedded system implementation compared with the feature points matching method.