In an example, live perception from a wide field of view sensor may be utilized to detect features in an environment of a vehicle. Sensor data generated by the sensor may be adjusted to represent a virtual field of view that is different from the actual field of view of the sensor, and the sensor data, with or without being virtually adjusted, may be applied to a stereographic projection algorithm to generate a projected image. The projected image may then be applied to a machine learning model, such as a deep neural network (DNN), to detect and/or classify features or objects represented therein. A machine learning model may be pre-trained on training sensor data generated by a sensor having a field of view smaller than a wide field of view sensor such that a virtual adjustment and/or projection algorithm may update the sensor data to be suitable for accurate processing by the pre-trained machine learning model.

    在示例中,可以利用来自宽视场传感器的实况感知来检测车辆的环境中的特征。由传感器生成的传感器数据可被调整以表示与传感器的实际视场不同的虚拟视场,并且传感器数据——有或没有虚拟地调整——可应用于立体投影算法以生成投影图像。投影图像然后可以应用于机器学习模型——诸如深度神经网络(DNN)——以检测和/或分类其中所表示的特征或对象。可以在训练传感器数据上预训练机器学习模型,所述训练传感器数据由具有小于宽视场传感器的视场的传感器生成,使得虚拟地调整和/或投影算法可以将传感器数据更新为适合于由预训练的机器学习模型进行的准确处理。


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    Title :

    Projection of images captured using fisheye lenses for feature detection in autonomous machine applications


    Additional title:

    投影使用鱼眼镜头捕获的图像用于自主机器应用中的特征检测


    Contributors:

    Publication date :

    2022-09-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen




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    Fisheye Lenses Calibration Using Straight-Line Spherical Perspective Projection Constraint

    Ying, X. / Hu, Z. / Zha, H. | British Library Conference Proceedings | 2006


    Super resolution of fisheye images captured by on-vehicle camera for visibility support

    Takano, Teruhisa / Ono, Shintaro / Matsushita, Yuki et al. | IEEE | 2015