Around View Monitoring (AVM) system is a computer vision application in advanced driver-assistance systems (ADASs). When using full high-definition (HD) camera, it brings significant challenge to system design. Multi-channel HD cameras bring great pressure to video processing system, especially the communication between the processing circuit and memory. To address these issues, this paper proposes a software-hardware co- designed AVM system. In particular, we present and implement a computational efficient composing algorithm for high quality bird's-eye view image and a cost efficient hardware architecture for low memory bandwidth. The performance of the proposed full HD AVM system can reach up to 30 frames per second.