Abstract: A system for generating an advanced surround view for a vehicle includes a plurality of cameras to generate image data. Sensors are configured to determine kinematic data of the vehicle. Kinematic data are also obtained by a visual odometry module and/or a deep-vision mechanism. A processor is configured to process image data captured by the plurality of cameras to generate a 360-degree surround view layer representative of a surrounding area. The processor is further configured to construct an improved bicycle kinematic model for processing kinematic data to generate an under-chassis layer representative of an area under the vehicle. The processor is further configured to generate a 3D vehicle model layer and overlay objects layer. Display screens display a GUI of combined scene of the 360-degree surround view layer, under-chassis layer, 3D vehicle model layer and overlay objects layer as would be viewed from a virtual camera viewpoint.