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In this paper, we introduce a moving object detection algorithm for fisheye cameras used in autonomous driving. We reformulate the three commonly used constraints in rectilinear images (epipolar, positive depth and positive height…
Understanding the surrounding environment of the vehicle is still one of the challenges for autonomous driving. This paper addresses 360-degree road scene semantic segmentation using surround view cameras, which are widely equipped in…
Fisheye cameras prove a convenient means in surveillance and automotive applications as they provide a very wide field of view for capturing their surroundings. Contrary to typical rectilinear imagery, however, fisheye video sequences…
In this work, we explore the technical feasibility of implementing end-to-end 3D object detection (3DOD) with surround-view fisheye camera system. Specifically, we first investigate the performance drop incurred when transferring classic…
Although fisheye cameras are in high demand in many application areas due to their large field of view, many image and video signal processing tasks such as motion compensation suffer from the introduced strong radial distortions. A…
Surveying wide areas with only one camera is a typical scenario in surveillance and automotive applications. Ultra wide-angle fisheye cameras employed to that end produce video data with characteristics that differ significantly from…
Surround-view fisheye cameras are commonly used for near-field sensing in automated driving. Four fisheye cameras on four sides of the vehicle are sufficient to cover 360{\deg} around the vehicle capturing the entire near-field region. Some…
Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by…
Recent microscopy imaging techniques allow to precisely analyze cell morphology in 3D image data. To process the vast amount of image data generated by current digitized imaging techniques, automated approaches are demanded more than ever.…
In phase-shifting profilometry (PSP), any motion during the acquisition of fringe patterns can introduce errors because it assumes both the object and measurement system are stationary. Therefore, we propose a method to pixel-wise reduce…
In moving camera videos, motion segmentation is commonly performed using the image plane motion of pixels, or optical flow. However, objects that are at different depths from the camera can exhibit different optical flows even if they share…
Fisheye cameras offer robots the ability to capture human movements across a wider field of view (FOV) than standard pinhole cameras, making them particularly useful for applications in human-robot interaction and automotive contexts.…
We present a method for segmenting an arbitrary number of moving objects in image sequences using the geometry of 6 points in 2D to infer motion consistency. The method has been evaluated on the Hopkins 155 database and surpasses current…
Moving Object Detection (MOD) is an important task for achieving robust autonomous driving. An autonomous vehicle has to estimate collision risk with other interacting objects in the environment and calculate an optional trajectory.…
Camera localization is a fundamental and key component of autonomous driving vehicles and mobile robots to localize themselves globally for further environment perception, path planning and motion control. Recently end-to-end approaches…
Self-supervised detection and segmentation of foreground objects aims for accuracy without annotated training data. However, existing approaches predominantly rely on restrictive assumptions on appearance and motion. For scenes with dynamic…
Capturing large fields of view with only one camera is an important aspect in surveillance and automotive applications, but the wide-angle fisheye imagery thus obtained exhibits very special characteristics that may not be very well suited…
As a cornerstone technique for autonomous driving, Bird's Eye View (BEV) segmentation has recently achieved remarkable progress with pinhole cameras. However, it is non-trivial to extend the existing methods to fisheye cameras with severe…
Most of existing superpixel methods are designed to segment standard planar images as pre-processing for computer vision pipelines. Nevertheless, the increasing number of applications based on wide angle capture devices, mainly generating…
Several approaches to image stitching use different constraints to estimate the motion model between image pairs. These constraints can be roughly divided into two categories: geometric constraints and photometric constraints. In this…