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

Status
Published
Publication Date
06-Apr-2022
Current Stage
PPUB - Publication issued
Completion Date
07-Apr-2022
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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 ----------------------
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---------------------- 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 Commission
Marque 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

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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

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– 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

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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.

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– 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.

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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.

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– 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

Front

view and the tilt angle ψ of the rear camera are described in Figure 3. The blind spot of the

Rear

vertical 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.
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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

car

direction of the car is X axis, and the direction of the height of the car is the Z axis. The

car car

projection 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 ×P
C VC→ V
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– 10 – IEC 63033-1:2022 © IEC 2022

M is the coordinate conversion matrix to the car's coordinate system, which is determined

V→C

by 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
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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.
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– 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 2

from 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
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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
...

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