Methods and systems for unsupervised depth estimation for fisheye cameras using spatial-temporal (and, optionally, modal) consistency. This unsupervised depth estimation works directly on raw, distorted stereo fisheye images, such as those obtained from the four fisheye camera disposed around a vehicle in rigid alignment. Temporal consistency involves training a depth estimation model using a sequence of frames as input, while spatial consistency involves training the depth estimation model using overlapping images from synchronized stereo camera pairs. Images from different stereo camera pairs can also be used at different times. Modal consistency, when applied, dictates that different sensor types (e.g., camera, lidar, etc.) must also agree. The methods and systems of the present disclosure utilize a fisheye camera projection model that projects a disparity map into a point cloud map, which aides in the rectification of stereo pairs.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Methods and systems for unsupervised depth estimation for fisheye cameras using spatial-temporal consistency


    Beteiligte:
    DING SIHAO (Autor:in) / YUAN JIANHE (Autor:in)

    Erscheinungsdatum :

    06.08.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06V



    SYSTEMS AND METHODS FOR PRODUCING A COMBINED VIEW FROM FISHEYE CAMERAS

    ZHANG TAO / GUO FENG / BI NING et al. | Europäisches Patentamt | 2016

    Freier Zugriff

    Systems and methods for producing a combined view from fisheye cameras

    ZHANG TAO / GUO FENG / BI NING et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    Monocular Fisheye Camera Depth Estimation Using Sparse LiDAR Supervision

    Kumar, Varun Ravi / Milz, Stefan / Witt, Christian et al. | IEEE | 2018


    Road-line detection and 3D reconstruction using fisheye cameras

    Boutteau, R. / Savatier, X. / Bonardi, F. et al. | IEEE | 2013


    ROBUST GROUND PLANE INDUCED HOMOGRAPHY ESTIMATION FOR WIDE ANGLE FISHEYE CAMERAS

    Knorr, M. / Niehsen, W. / Stiller, C. et al. | British Library Conference Proceedings | 2014