至今，關於自動駕駛的研究與論文，相較於過去十年，技術更為成熟與普及。在 SAE level 2 中，載具可自動執行轉向與加速的動作，駕駛人仍然需要監控整個駕駛過程，並且可以隨時主導駕駛權，本篇論文稱此為 ADAS(Advanced Driver Assistance Systems) 車用輔助系統。
移動載具之環繞視覺影像系統是 ADAS 車用輔助系統，此系統可已得到一張俯視的環繞視圖，並且輔助駕駛將載具停入停車格內。移動載具之環繞視覺影像系統是由四到六個相機組成，並且安裝在載具的四方。利用 RGB 相機的相片，使用SLAM同時定位與地圖構建的方法，得到相機在空間中的外方位參數。一旦作者有了相機與相機之間的相對姿態，可以利用這些資訊，經過影像處理，得到俯視的環繞視圖，隨後即可輔助駕駛將載具停入停車格內。在本篇論文中，作者將詳細的介紹移動載具之環繞視覺影像系統之流程。

Nowadays, the research about autonomous driving is more famous than a decade ago. In SAE level 2, the vehicle can perform steering and acceleration. The human still monitors all tasks and can take control at any time, which was known as ADAS(Advanced Driver Assistance Systems) technology.
An around-view camera system is an ADAS technology that can help the driver to have a top-view surrounding image, and assist the driver to drive into the parking space. The around-view system is consists of four to six cameras that were installed around the vehicle. From these RGB camera images, we use SLAM-based methods to calculate camera extrinsic parameters. Once we get each camera’s relative poses and do the image process, a composite bird-eye view of the vehicle is shown on the monitor and assists the driver during parking. In this thesis, the process of getting an around-view image will be introduced in detail.

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