相关论文: Spherical formulation of moving object geometric c…
We introduce a visual motion segmentation method employing spherical geometry for fisheye cameras and automoated driving. Three commonly used geometric constraints in pin-hole imagery (the positive height, positive depth and epipolar…
The ability to detect pedestrians and other moving objects is crucial for an autonomous vehicle. This must be done in real-time with minimum system overhead. This paper discusses the implementation of a surround view system to identify…
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.…
Fisheye cameras are commonly used in applications like autonomous driving and surveillance to provide a large field of view ($>180^{\circ}$). However, they come at the cost of strong non-linear distortions which require more complex…
Object detection is a mature problem in autonomous driving with pedestrian detection being one of the first deployed algorithms. It has been comprehensively studied in the literature. However, object detection is relatively less explored…
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…
Object detection is a comprehensively studied problem in autonomous driving. However, it has been relatively less explored in the case of fisheye cameras. The standard bounding box fails in fisheye cameras due to the strong radial…
Cameras are a crucial exteroceptive sensor for self-driving cars as they are low-cost and small, provide appearance information about the environment, and work in various weather conditions. They can be used for multiple purposes such as…
We present a real-time dense geometric mapping algorithm for large-scale environments. Unlike existing methods which use pinhole cameras, our implementation is based on fisheye cameras which have larger field of view and benefit some other…
The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the…
Surround View fisheye cameras are commonly deployed in automated driving for 360\deg{} near-field sensing around the vehicle. This work presents a multi-task visual perception network on unrectified fisheye images to enable the vehicle to…
Fisheye cameras offer an efficient solution for wide-area traffic surveillance by capturing large fields of view from a single vantage point. However, the strong radial distortion and nonuniform resolution inherent in fisheye imagery…
Existing monocular 3D object detection methods have been demonstrated on rectilinear perspective images and fail in images with alternative projections such as those acquired by fisheye cameras. Previous works on object detection in fisheye…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
Object detection is a comprehensively studied problem in autonomous driving. However, it has been relatively less explored in the case of fisheye cameras. The strong radial distortion breaks the translation invariance inductive bias of…
Most camera lens systems are designed in isolation, separately from downstream computer vision methods. Recently, joint optimization approaches that design lenses alongside other components of the image acquisition and processing pipeline…
We propose an approach to detect flying objects such as UAVs and aircrafts when they occupy a small portion of the field of view, possibly moving against complex backgrounds, and are filmed by a camera that itself moves. Solving such a…
Monocular 3D object detection is an important task in autonomous driving. It can be easily intractable where there exists ego-car pose change w.r.t. ground plane. This is common due to the slight fluctuation of road smoothness and slope.…
As we move through the world, the pattern of light projected on our eyes is complex and dynamic, yet we are still able to distinguish between moving and stationary objects. We propose that humans accomplish this by exploiting constraints…
This paper proposes an efficient autonomous valet parking system utilizing only cameras which are the most widely used sensor. To capture more information instantaneously and respond rapidly to changes in the surrounding environment,…