IEC 63033-1:2022
(Main)Multimedia systems and equipment for vehicles - Surround view system - Part 1: General
Multimedia systems and equipment for vehicles - Surround view system - Part 1: General
IEC 63033-1:2022 specifies the model for generating the surrounding visual image of the surround view system.
IEC 63033-1:2022 cancels and replaces IEC TS 63033-1 published in 2017. This edition constitutes a technical revision.
Systèmes et équipements multimédias pour véhicules - Système de vision panoramique - Partie 1: Généralités
L'IEC 63033-1:2022 spécifie le modèle utilisé pour générer l'image visuelle environnante du système de vision panoramique.
L'IEC 63033-1:2022 annule et remplace l'IEC TS 63033-1 parue en 2017. Cette édition constitue une révision technique.
General Information
Standards Content (Sample)
IEC 63033-1
Edition 1.0 2022-04
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Multimedia systems and equipment for vehicles – Surround view system –
Part 1: General
Systèmes et équipements multimédias pour véhicules – Système de vision
panoramique –
Partie 1: Généralités
IEC 63033-1:2022-04en-fr)
---------------------- Page: 1 ----------------------
THIS PUBLICATION IS COPYRIGHT PROTECTED
Copyright © 2022 IEC, Geneva, Switzerland
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form
or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from
either IEC or IEC's member National Committee in the country of the requester. If you have any questions about IEC
copyright or have an enquiry about obtaining additional rights to this publication, please contact the address below or
your local IEC member National Committee for further information.Droits de reproduction réservés. Sauf indication contraire, aucune partie de cette publication ne peut être reproduite ni
utilisée sous quelque forme que ce soit et par aucun procédé, électronique ou mécanique, y compris la photocopie et
les microfilms, sans l'accord écrit de l'IEC ou du Comité national de l'IEC du pays du demandeur. Si vous avez des
questions sur le copyright de l'IEC ou si vous désirez obtenir des droits supplémentaires sur cette publication, utilisez
les coordonnées ci-après ou contactez le Comité national de l'IEC de votre pays de résidence.
IEC Secretariat Tel.: +41 22 919 02 113, rue de Varembé info@iec.ch
CH-1211 Geneva 20 www.iec.ch
Switzerland
About the IEC
The International Electrotechnical Commission (IEC) is the leading global organization that prepares and publishes
International Standards for all electrical, electronic and related technologies.About IEC publications
The technical content of IEC publications is kept under constant review by the IEC. Please make sure that you have the
latest edition, a corrigendum or an amendment might have been published.IEC publications search - webstore.iec.ch/advsearchform IEC Products & Services Portal - products.iec.ch
The advanced search enables to find IEC publications by a Discover our powerful search engine and read freely all the
variety of criteria (reference number, text, technical publications previews. With a subscription you will always have
committee, …). It also gives information on projects, replaced access to up to date content tailored to your needs.
and withdrawn publications.Electropedia - www.electropedia.org
IEC Just Published - webstore.iec.ch/justpublished
The world's leading online dictionary on electrotechnology,
Stay up to date on all new IEC publications. Just Published
containing more than 22 300 terminological entries in English
details all new publications released. Available online and once
and French, with equivalent terms in 19 additional languages.
a month by email.
Also known as the International Electrotechnical Vocabulary
(IEV) online.
IEC Customer Service Centre - webstore.iec.ch/csc
If you wish to give us your feedback on this publication or need
further assistance, please contact the Customer Service
Centre: sales@iec.ch.
A propos de l'IEC
La Commission Electrotechnique Internationale (IEC) est la première organisation mondiale qui élabore et publie des
Normes internationales pour tout ce qui a trait à l'électricité, à l'électronique et aux technologies apparentées.
A propos des publications IECLe contenu technique des publications IEC est constamment revu. Veuillez vous assurer que vous possédez l’édition la
plus récente, un corrigendum ou amendement peut avoir été publié.Recherche de publications IEC - Découvrez notre puissant moteur de recherche et consultez
webstore.iec.ch/advsearchform gratuitement tous les aperçus des publications. Avec un
La recherche avancée permet de trouver des publications IEC abonnement, vous aurez toujours accès à un contenu à jour
en utilisant différents critères (numéro de référence, texte, adapté à vos besoins.
comité d’études, …). Elle donne aussi des informations sur lesprojets et les publications remplacées ou retirées. Electropedia - www.electropedia.org
Le premier dictionnaire d'électrotechnologie en ligne au monde,IEC Just Published - webstore.iec.ch/justpublished
avec plus de 22 300 articles terminologiques en anglais et en
Restez informé sur les nouvelles publications IEC. Just
français, ainsi que les termes équivalents dans 19 langues
Published détaille les nouvelles publications parues.
additionnelles. Egalement appelé Vocabulaire
Disponible en ligne et une fois par mois par email.
Electrotechnique International (IEV) en ligne.
Service Clients - webstore.iec.ch/csc
Si vous désirez nous donner des commentaires sur cette
publication ou si vous avez des questions contactez-nous:
sales@iec.ch.
IEC Products & Services Portal - products.iec.ch
---------------------- Page: 2 ----------------------
IEC 63033-1
Edition 1.0 2022-04
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Multimedia systems and equipment for vehicles – Surround view system –
Part 1: General
Systèmes et équipements multimédias pour véhicules – Système de vision
panoramique –
Partie 1: Généralités
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 33.160.99; 43.040.15 ISBN 978-2-8322-1095-0
Warning! Make sure that you obtained this publication from an authorized distributor.
Attention! Veuillez vous assurer que vous avez obtenu cette publication via un distributeur agréé.
® Registered trademark of the International Electrotechnical CommissionMarque déposée de la Commission Electrotechnique Internationale
---------------------- Page: 3 ----------------------
– 2 – IEC 63033-1:2022 © IEC 2022
CONTENTS
FOREWORD ........................................................................................................................... 4
INTRODUCTION ..................................................................................................................... 6
1 Scope .............................................................................................................................. 7
2 Normative references ...................................................................................................... 7
3 Terms, definitions and abbreviated terms ........................................................................ 7
3.1 Terms and definitions .............................................................................................. 7
3.2 Abbreviated terms ................................................................................................... 7
4 System model .................................................................................................................. 7
4.1 General ................................................................................................................... 7
4.2 Number of cameras and camera field of view .......................................................... 8
4.3 Method for projecting visual image to 3D projection surface .................................... 9
4.4 Visualizing the projection image at free eye point.................................................. 11
4.5 Free eye point capability ....................................................................................... 11
5 Camera configuration .................................................................................................... 11
5.1 Camera ................................................................................................................. 11
5.2 Lens distortion data .............................................................................................. 11
5.2.1 General ......................................................................................................... 11
5.2.2 Distortion data of rotationally symmetric lens ................................................. 12
5.2.3 Distortion data of non-rotationally symmetric lens .......................................... 12
5.3 Optical axis shift data ........................................................................................... 13
6 Rendering ...................................................................................................................... 14
6.1 General ................................................................................................................. 14
6.2 Composite view data ............................................................................................. 14
6.2.1 3D projection surface data ............................................................................. 14
6.2.2 Capture size .................................................................................................. 14
6.2.3 Conversion of eye point parameter ................................................................ 15
6.2.4 Virtual 3D image car model data .................................................................... 16
6.2.5 Guide line and bitmap data ............................................................................ 16
6.2.6 Layout data and layer setting data ................................................................. 17
Annex A (informative) Camera mounting to the car .............................................................. 19
A.1 Camera mounting position .................................................................................... 19
A.2 Camera mounting height ....................................................................................... 19
A.3 Camera mounting angle ........................................................................................ 19
Annex B (informative) Camera field of view .......................................................................... 21
Annex C (informative) Camera calibration ............................................................................ 22
Annex D (informative) Display .............................................................................................. 23
D.1 Display specification data ..................................................................................... 23
D.2 Composite view change mode ............................................................................... 23
Annex E (informative) Time behaviour ................................................................................. 24
E.1 Start-up time ......................................................................................................... 24
E.2 Frame rate ............................................................................................................ 24
E.3 Latency ................................................................................................................. 24
Bibliography .......................................................................................................................... 25
Figure 1 – System model for surround view system................................................................. 8
---------------------- Page: 4 ----------------------IEC 63033-1:2022 © IEC 2022 – 3 –
Figure 2 – Horizontal angle of view of the camera ................................................................... 9
Figure 3 – Vertical angles of view at the camera ..................................................................... 9
Figure 4 – 3D projection surface ........................................................................................... 10
Figure 5 – Projecting to 3D projection surface ....................................................................... 11
Figure 6 – Distortion data of a rotationally symmetric lens .................................................... 12
Figure 7 – Distortion data format of rotationally symmetric lens ............................................ 12
Figure 8 – Distortion data of a non-rotationally symmetric lens ............................................. 12
Figure 9 – Distortion data format of a non-rotationally symmetric lens ................................... 13
Figure 10 – Texture normalization coordinate at the centre of each optical axis .................... 13
Figure 11 – The format of optical shift data ........................................................................... 14
Figure 12 – 3D projection surface data ................................................................................. 14
Figure 13 – Capture specification data format ....................................................................... 15
Figure 14 – Camera angle in conversion of eye point ............................................................ 15
Figure 15 – Camera position/scaling in conversion of eye point ............................................ 15
Figure 16 – Virtual 3D image car model at original dimensions ............................................. 16
Figure 17 – Virtual 3D image car model at real dimensions ................................................... 16
Figure 18 – Guide line and bitmap data ................................................................................. 17
Figure 19 – Camera image coordinate system ...................................................................... 17
Figure 20 – Screen coordinate system .................................................................................. 18
Figure 21 – Object coordinate system ................................................................................... 18
Figure 22 – Layout data and layer setting data ...................................................................... 18
Figure A.1 – Camera mounting position ................................................................................ 19
Figure A.2 – Camera mounting height ................................................................................... 19
Figure A.3 – Camera mounting angle .................................................................................... 20
Figure C.1 – Camera calibration ........................................................................................... 22
---------------------- Page: 5 ----------------------– 4 – IEC 63033-1:2022 © IEC 2022
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
MULTIMEDIA SYSTEMS AND EQUIPMENT FOR VEHICLES –
SURROUND VIEW SYSTEM –
Part 1: General
FOREWORD
1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising
all national electrotechnical committees (IEC National Committees). The object of IEC is to promote international
co-operation on all questions concerning standardization in the electrical and electronic fields. To this end and
in addition to other activities, IEC publishes International Standards, Technical Specifications, Technical Reports,
Publicly Available Specifications (PAS) and Guides (hereafter referred to as “IEC Publication(s)”). Their
preparation is entrusted to technical committees; any IEC National Committee interested in the subject dealt with
may participate in this preparatory work. International, governmental and non-governmental organizations liaising
with the IEC also participate in this preparation. IEC collaborates closely with the International Organization for
Standardization (ISO) in accordance with conditions determined by agreement between the two organizations.
2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international
consensus of opinion on the relevant subjects since each technical committee has representation from all
interested IEC National Committees.3) IEC Publications have the form of recommendations for international use and are accepted by IEC National
Committees in that sense. While all reasonable efforts are made to ensure that the technical content of IEC
Publications is accurate, IEC cannot be held responsible for the way in which they are used or for any
misinterpretation by any end user.4) In order to promote international uniformity, IEC National Committees undertake to apply IEC Publications
transparently to the maximum extent possible in their national and regional publications. Any divergence between
any IEC Publication and the corresponding national or regional publication shall be clearly indicated in the latter.
5) IEC itself does not provide any attestation of conformity. Independent certification bodies provide conformity
assessment services and, in some areas, access to IEC marks of conformity. IEC is not responsible for any
services carried out by independent certification bodies.6) All users should ensure that they have the latest edition of this publication.
7) No liability shall attach to IEC or its directors, employees, servants or agents including individual experts and
members of its technical committees and IEC National Committees for any personal injury, property damage or
other damage of any nature whatsoever, whether direct or indirect, or for costs (including legal fees) and
expenses arising out of the publication, use of, or reliance upon, this IEC Publication or any other IEC
Publications.8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable for the correct application of this publication.9) Attention is drawn to the possibility that some of the elements of this IEC Publication may be the subject of patent
rights. IEC shall not be held responsible for identifying any or all such patent rights.
IEC 63033-1 has been prepared by technical area 17: Multimedia systems and equipment for
vehicles, of IEC technical committee 100: Audio, video and multimedia systems and equipment.
It is an International Standard.This first edition cancels and replaces IEC TS 63033-1 published in 2017. This edition
constitutes a technical revision.The text of this International Standard is based on the following documents:
Draft Report on voting
100/3728/FDIS 100/3751/RVD
Full information on the voting for its approval can be found in the report on voting indicated in
the above table.---------------------- Page: 6 ----------------------
IEC 63033-1:2022 © IEC 2022 – 5 –
The language used for the development of this International Standard is English.
A list of all parts in the IEC 63033 series, published under the general title Multimedia systems
and equipment for vehicles – Surround view system, can be found on the IEC website.
This document was drafted in accordance with ISO/IEC Directives, Part 2, and developed in
accordance with ISO/IEC Directives, Part 1 and ISO/IEC Directives, IEC Supplement, available
at www.iec.ch/members_experts/refdocs. The main document types developed by IEC are
described in greater detail at www.iec.ch/standardsdev/publications.The committee has decided that the contents of this document will remain unchanged until the
stability date indicated on the IEC website under webstore.iec.ch in the data related to the
specific document. At this date, the document will be• reconfirmed,
• withdrawn,
• replaced by a revised edition, or
• amended.
IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates
that it contains colours which are considered to be useful for the correct understanding
of its contents. Users should therefore print this document using a colour printer.
---------------------- Page: 7 ----------------------– 6 – IEC 63033-1:2022 © IEC 2022
INTRODUCTION
The purpose of this document is to specify the model for generating the surrounding visual
image of the surround view system, which provides drivers with an image of the car's
surroundings. The surround view system is characterised by audio-visual monitoring and
recording, which is part of the car's multimedia equipment.When manoeuvring, the driver relies on the images provided by the rear-view monitor for
parking assistance, the blind spot monitor for displaying views of the blind spots at intersections
with poor visibility, and the bird's-eye view monitor. But each surround view system provides a
different viewpoint to the driver. It's a heavy burden for a car driver to switch between these
systems and quickly recognize the multiple fields of view. And the fields of view are limited to
these camera systems, and they cannot freely change the viewpoint depending on the driving
situation. Thus, the usage range of these systems is limited to such manoeuvres as parking
assistance. Furthermore, on commercial vehicles such as trucks and buses, and special
vehicles such as construction machinery and agricultural machinery, the usage range of these
systems is even more limited. Nobody can assist drivers of large vehicles in ensuring the car's
correct position.With a surround view system, it is possible to quickly ensure the car's proper positioning in
various driving situations. And not only for passenger cars, but good positioning can also be
quickly ensured for commercial vehicles and special vehicles.This document specifies the model for generating the surrounding visual image of the surround
view system. IEC 63033-2 specifies the information sets that are provided by the surround view
system, and recording methods for that information and visual images. IEC 63033-3 specifies
the measurement methods of surrounding visual images for the surround view system.
---------------------- Page: 8 ----------------------IEC 63033-1:2022 © IEC 2022 – 7 –
MULTIMEDIA SYSTEMS AND EQUIPMENT FOR VEHICLES –
SURROUND VIEW SYSTEM –
Part 1: General
1 Scope
This part of IEC 63033 specifies the model for generating the surrounding visual image of the
surround view system.2 Normative references
There are no normative references in this document.
3 Terms, definitions and abbreviated terms
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminological databases for use in standardization at the following
addresses:• IEC Electropedia: available at http://www.electropedia.org/
• ISO Online browsing platform: available at http://www.iso.org/obp
3.1 Terms and definitions
3.1.1
car
powered wheeled vehicle of any kind
3.2 Abbreviated terms
3D three dimensional
camera ECU camera electronic control unit
CAN controller area network
GUI graphical user interface
AD analogue-to-digital
DA digital-to-analogue
4 System model
4.1 General
The system model of the surround view system is described in Figure 1. Cameras, which are
mounted on the outside of the car, capture the visual image of the area surrounding the car and
these visual data are projected onto a 3D projection surface. The visual image can then be
displayed as a composite image. The images can be rendered from various viewpoints with the
parameters for capture. The number of cameras required on vehicles other than automobiles
can be more than four depending on the size and shape of the car. This model defines a system
with four cameras for general application. The number of cameras actually used for each
composite image changes depending on the viewpoint. The mounting positions and angles for
the four cameras should be calibrated in accordance with the data described in 4.2 and 4.3.
---------------------- Page: 9 ----------------------– 8 – IEC 63033-1:2022 © IEC 2022
See Annex D for information about display attributes and Annex E for information about the
reactivity of the system.Figure 1 – System model for surround view system
4.2 Number of cameras and camera field of view
The horizontal angle of view of the camera is described in Figure 2. Overlapping areas and
blind spots on the horizontal field of view change depending on the number of cameras and the
horizontal angle of view of the camera. Overlapping areas should be wide for getting better
composite views. The number of cameras and the horizontal angle of view of the camera shall
be determined to ensure that there are no blind spots.The vertical angle of view and the tilt angle ψ of the front camera and the vertical angle of
Frontview and the tilt angle ψ of the rear camera are described in Figure 3. The blind spot of the
Rearvertical field of view changes depending on the vertical angle of view of the camera and the tilt
angle ψ. The vertical angle of view of the camera and the tilt angle ψ shall be chosen to ensure
that no blind spots are generated. The details are described in Annex A.---------------------- Page: 10 ----------------------
IEC 63033-1:2022 © IEC 2022 – 9 –
Figure 2 – Horizontal angle of view of the camera
Figure 3 – Vertical angles of view at the camera
4.3 Method for projecting visual image to 3D projection surface
Following the right-handed coordinate system, the length of the car is the Y axis, the width
cardirection of the car is X axis, and the direction of the height of the car is the Z axis. The
car carprojection surface of the camera video image is Z = 0, the road surface. The 3D projection
surface that shall be used is shown in Figure 4. Projecting to a 3D projection surface is
described in Figure 5. The 3D projection surface should cover the 3D surface as the polygon
model is similar to a polyhedron. The coordinate P of the one point of the 3D projection surface
is converted to the coordinate P according to the camera's coordinate system based on the
origin of the optics of the car's cameras. This coordinate conversion is defined as:
PM ×PC VC→ V
---------------------- Page: 11 ----------------------
– 10 – IEC 63033-1:2022 © IEC 2022
M is the coordinate conversion matrix to the car's coordinate system, which is determined
V→Cby the camera's mounting position and the angle. The incident vector V when the car's camera
photographs the subject at position P is defined as:V=−
The coordinates of the car's camera image record the subject of incident vector V calculated
by the internal parameter of the car's camera. Projecting the car's cameras to a 3D projection
surface is realized by arranging the pixels of four cameras with the relations mentioned above.
Figure 4 – 3D projection surface---------------------- Page: 12 ----------------------
IEC 63033-1:2022 © IEC 2022 – 11 –
Figure 5 – Projecting to 3D projection surface
4.4 Visualizing the projection image at free eye point
The polygon model constituting the 3D projection surface can be visualized from any virtual eye
point. Visualizing the polygon model uses 3D computer graphics technology. The texture image
is the car's camera image updated at the system's video rate. The wrap-around view image is
composed by performing the polygon rendering and the texture coordinate is the car's camera
image coordinate that corresponds to the top of the polygon.4.5 Free eye point capability
The parameters of the eye point, direction and field of view of the virtual camera are freely
changed during polygon rendering. The eye point can be changed by changing the parameters
of the virtual cameras, the car's surroundings and the driving situation for the same 3D
projection surface. The animated image tied between individual eye points is smoothly adjusted
by changing these parameters continually.5 Camera configuration
5.1 Camera
The lens of the camera should be isotropic and have a rotary symmetric distortion characteristic
in an optical axis. The details are described in Annex B.5.2 Lens distortion data
5.2.1 General
Lens distortion data should be used during calibration. Lens distortion data should be arranged
according to the coordinate data of the height of the real image corresponding to the incidence
angle value in ascending order. The type of lens distortion data is either of rotationally
symmetric lenses or of non-rotationally symmetric lenses.---------------------- Page: 13 ----------------------
– 12 – IEC 63033-1:2022 © IEC 2022
5.2.2 Distortion data of rotationally symmetric lens
Distortion data of rotationally symmetric lenses is described in Figure 6. It is composed of the
angles of incidence a and a between the optical axis's centre and their distances d and d
1 2 1 2from the centre. The distortion data format of a rotationally symmetric lens is described in
Figure 7.Figure 6 – Distortion data of a rotationally symmetric lens
Figure 7 – Distortion data format of rotationally symmetric lens
5.2.3 Distortion data of non-rotationally symmetric lens
Distortion data of non-rotationally symmetric lenses is described in Figure 8. It is composed of
an angle of incidence (pan angle and tilt angle) and the location (x,y) on the imaging element.
The distortion data format of a non-rotationally symmetric lens is described in Figure 9.
Figure 8 – Distortion data of a non-rotationally symmetric lens---------------------- Page: 14 ----------------------
IEC 63033-1:2022 © IEC 2022 – 13 –
Figure 9 – Distortion data format of a non-rotationally symmetric lens
5.3 Optical axis shift data
Optical axis shift data should be used at calibration. Optical axis shift includes optical axis shift
of camera, shift by AD or DA conversion, and shift from the ideal captured image. The optical
axis shift adjusts the shift from the central coordinates and the captured image's width and
height as an input. Optical shift data that should be matched...
Questions, Comments and Discussion
Ask us and Technical Secretary will try to provide an answer. You can facilitate discussion about the standard in here.