作者
Zizhang Wu, Wenkai Zhang, Jizheng Wang, Man Wang, Yuanzhu Gan, Xinchao Gou, Muqing Fang, Jing Song
发表日期
2021/7/19
期刊
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems
简介
The 3D visual perception for vehicles with the surround-view fisheye camera system is a critical and challenging task for low-cost urban autonomous driving. While existing monocular 3D object detection methods perform not well enough on the fisheye images for mass production, partly due to the lack of 3D datasets of such images. In this paper, we manage to overcome and avoid the difficulty of acquiring the large scale of accurate 3D labeled truth data, by breaking down the 3D object detection task into some sub-tasks, such as vehicle’s contact point detection, type classification, re-identification and unit assembling, etc. Particularly, we propose the concept of Multidimensional Vector to include the utilizable information generated in different dimensions and stages, instead of the descriptive approach for the bird’s eye view (BEV) or a cube of eight points. The experiments of real fisheye images demonstrate that …
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Z Wu, W Zhang, J Wang, M Wang, Y Gan, X Gou… - 2021 IEEE/RSJ International Conference on Intelligent …, 2021