Enhancing Surround-view 3D Object Detection with Fisheye Camera

3D Vision Intern

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Motivation

  • Fisheye camera provides a large FoV, unlike pinhole cameras.
  • Many cars are already equipped with fisheye cameras for Surround-View-Monitor (SVM).
  • Question: Can fisheye cameras enhance 3D object detection, which has been mainly done with pinhole cameras?

Method

  • Enhance pinhole camera–based surround view using additional fisheye cameras.
  • Architecture:
    • Extend previous SVM 3D object detection model (pinhole camera).
    • Develop a novel fisheye camera model.
  • Leverage fisheye FoV to map 2D fisheye image features into the BEV (Bird’s-Eye-View) map.