Image stitching with color harmonization for surround view systems and applications

Abstract

In various examples, color statistic(s) from ground projections are used to harmonize color between reference and target frames representing an environment. The reference and target frames may be projected onto a representation of the ground (e.g., a ground plane) of the environment, an overlapping region between the projections may be identified, and the portion of each projection that lands in the overlapping region may be taken as a corresponding ground projection. Color statistics (e.g., mean, variance, standard deviation, kurtosis, skew, correlation(s) between color channels) may be computed from the ground projections (or a portion thereof, such as a majority cluster) and used to modify the colors of the target frame to have updated color statistics that match those from the ground projection of the reference frame, thereby harmonizing color across the reference and target frames.