A method for scale-aware depth estimation using multi-camera projection loss is described. The method includes determining a multi-camera photometric loss associated with a multi-camera rig of an ego vehicle. The method also includes training a scale-aware depth estimation model and an ego-motion estimation model according to the multi-camera photometric loss. The method further includes predicting a 360° point cloud of a scene surrounding the ego vehicle according to the scale-aware depth estimation model and the ego-motion estimation model. The method also includes planning a vehicle control action of the ego vehicle according to the 360° point cloud of the scene surrounding the ego vehicle.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    SCALE-AWARE DEPTH ESTIMATION USING MULTI-CAMERA PROJECTION LOSS


    Beteiligte:

    Erscheinungsdatum :

    22.09.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



    SCALE-AWARE DEPTH ESTIMATION USING MULTI-CAMERA PROJECTION LOSS

    GUIZILINI VITOR / AMBRUS RARES ANDREI / VASILJEVIC IGOR et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Scale-aware depth estimation using multi-camera projection loss

    GUIZILINI VITOR / AMBRUS RARES ANDREI / GAIDON ADRIEN DAVID et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Unsupervised Learning of Depth Estimation and Camera Pose With Multi-Scale GANs

    Xu, Yufan / Wang, Yan / Huang, Rui et al. | IEEE | 2022


    Pedestrian Orientation Estimation Using CNN and Depth Camera

    Abughalieh, Karam / Alawneh, Shadi | SAE Technical Papers | 2020


    Local Scene Depth Estimation Using Rotating Monocular Camera

    Thomas, Sonu / Kutty, Krishnan / Senthamilarasu, Vinuchackravarthy | British Library Conference Proceedings | 2015