论文标题
单眼鱼眼摄像头的运动对象几何约束的球形公式
Spherical formulation of moving object geometric constraints for monocular fisheye cameras
论文作者
论文摘要
在本文中，我们引入了一种用于自动驾驶中的鱼眼摄像机的移动对象检测算法。我们重新将直线图像（面，正面深度和正高限制）中的三个常用约束重新出现到球形坐标中，一旦已知校准，这对于特定的摄像机配置是不变的。自主驾驶中的主要挑战性用例之一是检测遭受运动 - 偏见歧义的平行运动对象。为了减轻这一点，我们制定了一个额外的第四个约束，称为反行约束，该约束有助于对物体检测，以反映出自我车辆的运动。我们在不同的情况下分析了所提出的算法，并证明它可以直接在鱼眼图像上有效运行。
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 constraints) to spherical coordinates which is invariant to specific camera configuration once the calibration is known. One of the main challenging use case in autonomous driving is to detect parallel moving objects which suffer from motion-parallax ambiguity. To alleviate this, we formulate an additional fourth constraint, called the anti-parallel constraint, which aids the detection of objects with motion that mirrors the ego-vehicle possible. We analyze the proposed algorithm in different scenarios and demonstrate that it works effectively operating directly on fisheye images.
