关键词: 军用车辆, 图像拼接, 多相机标定, ChArUco, 优化加速, 系统设计

Abstract: To solve the problem that military vehicles such as tanks and armored vehicles have difficulties in wide - area imaging when using a multi - camera detection system for environmental perception due to the small overlapping area of multi - camera images, large parallax, and complex and changeable feature information in practical application scenarios, a wide - area real - time imaging method based on ChArUco board calibration is proposed, and a wide - area visual enhancement system for military vehicles is designed for drivers to perform real - time imaging of the external environment in a closed compartment with limited vision. This algorithm utilizes the characteristic that the ChArUco board can still be accurately calibrated under occlusion conditions to achieve accurate calibration of a small - overlapping multi - camera system. Projection transformation is carried out through calibration parameters to avoid the interference of image feature information and effectively deal with complex feature scenarios. At the same time, the parallax in the overlapping area is eliminated by optical flow relationship fusion, and a wide - area real - time imaging is achieved by using the projection look - up table and parallel acceleration optimization methods. This algorithm is deployed on a mobile computing platform to form a complete wide - area visual enhancement system. The experimental results show that this system and algorithm can meet the wide - area real - time imaging requirements of various scenarios and improve the visual perception ability of military vehicles in complex environments.

Key words: military vehicles, image stitching, multi-camera calibration, ChArUco, optimization acceleration, system design