Fisheye cameras are widely employed in automatic parking, and the video stream object detection (VSOD) of the fisheye camera is a fundamental perception function to ensure the safe operation of vehicles. In past research, the difference between the output of the deep learning model and the actual situation at the current moment due to the existence of delay of the perception system is generally ignored. Nevertheless, the environment will inevitably change within the delay, which may cause a potential safety hazard. This paper proposes a real-time detection framework with a dual-flow perception module (dynamic and static flows) that can predict the future and alleviate the time-lag problem. Meanwhile, we use a new scheme to evaluate latency and accuracy. The standard bbox is unsuitable for the object in fisheye camera images due to the solid radial distortion of the fisheye camera. The primary detection objects of parking perception are vehicles and pedestrians, so we adopt the rotated bbox and propose a new periodic angle loss function to regress the angle of the box, which is the simple and accurate representation method of objects. The instance segmentation ground truth is used to supervise the training. Experiments demonstrate the effectiveness of our approach. Code is released at: https://gitee.com/hiyanyx/fisheye-streaming-perception.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Streaming Object Detection on Fisheye Cameras for Automatic Parking


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Yixiong (author) / Cheng, Liangzhu (author) / Li, Yongxu (author) / Tuo, Xinjuan (author) / Huang, Baoqiang (author) / Zhu, Yakun (author)

    Conference:

    Society of Automotive Engineers (SAE)-China Congress ; 2023 ; Shanghai, China October 25, 2023 - October 27, 2023



    Publication date :

    2024-02-21


    Size :

    19 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Optimization of a CNN-based Object Detector for Fisheye Cameras

    Goodarzi, Payam / Stellmacher, Martin / Paetzold, Michael et al. | IEEE | 2019


    Road-line detection and 3D reconstruction using fisheye cameras

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



    VEHICLE LANE MARKING AND OTHER OBJECT DETECTION USING SIDE FISHEYE CAMERAS AND THREE-FOLD DE-WARPING

    WALLIN ANDREAS / DING SIHAO | European Patent Office | 2020

    Free access

    EgoCap:egocentric marker-less motion capture with two fisheye cameras

    Rhodin, Helge / Richardt, Christian / Casas, Dan et al. | BASE | 2016

    Free access