US Patent 11050932 Using real time ray tracing for lens remapping

A method for generating a surround view (SV) image for display in a view port of an SV processing system is provided that includes capturing, by at least one processor, corresponding images of video streams from each camera of a plurality of cameras and generating, by the at least one processor, the SV image using ray tracing for lens remapping to identify coordinates of pixels in the images corresponding to pixels in the SV image.