Abstract: The 360°panoramic surround view technology plays a critical role in assisting driving and intelligent cockpits, effectively reducing blind spots for commercial vehicles and enhancing driving safety. This study aims to investigate a commercial vehicle 360°surround view algorithm based on OpenGL to meet the real-time requirements of embedded devices. By optimizing key techniques in the panoramic stitching process, including distortion correction and extrinsic calibration, a highly efficient commercial vehicle 360°surround view stitching algorithm is proposed by integrating the concept of lookup table method.This algorithm shifts the computational complexity to the calibration process, allowing for direct information retrieval and assignment after generating the lookup table. Validation results on the Rockchip RK3568 platform demonstrate that compared to traditional OpenCV processing methods, this algorithm significantly improves response speed, achieving a processing speed of 47 ms per frame. This research offers a viable and high-efficiency approach for the practical implementation of commercial vehicle 360°surround view technology.

Key words: panoramic image stitching; commercial vehicle; perspective transform; distortion correction; lookup table

摘要： 360°全景环视技术在辅助驾驶和智能座舱中扮演重要角色，有效减少商用车辆的视野 盲区，提升驾驶安全性。文章旨在研究基于 OpenGL 的商用车 360°环视算法，以满足嵌入式 设备对实时性的要求。通过优化全景拼接过程中的关键技术包括畸变校正和外参标定，结合 查表法思想，提出了一种高效的商用车 360°环视拼接算法。该算法将计算复杂度转移到标 定过程，生成查找表后可快速读取信息进行赋值。在瑞芯微 RK3568 平台上验证结果显示， 相较于传统的 OpenCV 处理方法，该算法显著提升了响应速度，达到单帧 47 ms 的处理速度。 研究为商用车 360°环视技术的实际应用提供了可行且高效的解决方案。

关键词: 全景影像拼接；商用车；透视变换；畸变校正；查找表