周囲視魚眼カメラのための自己教師あり近距離距離推定
SVDistNet: Self-Supervised Near-Field Distance Estimation on Surround View Fisheye Cameras
カメラパラメータを条件入力とする幾何適応型マルチスケール畳み込みと自己注意エンコーダにより、未見の魚眼カメラにも汎化する近距離距離推定手法を提案した論文。
著者: Varun Ravi Kumar, Marvin Klingner, Senthil Yogamani, Markus Bach, Stefan Milz, Tim Fingscheidt, Patrick Mäder
分類: cs.CV, cs.RO
原文アブストラクト
A 360{\deg} perception of scene geometry is essential for automated driving, notably for parking and urban driving scenarios. Typically, it is achieved using surround-view fisheye cameras, focusing on the near-field area around the vehicle. The majority of current depth estimation approaches focus on employing just a single camera, which cannot be straightforwardly generalized to multiple cameras. The depth estimation model must be tested on a variety of cameras equipped to millions of cars with varying camera geometries. Even within a single car, intrinsics vary due to manufacturing tolerances. Deep learning models are sensitive to these changes, and it is practically infeasible to train and test on each camera variant. As a result, we present novel camera-geometry adaptive multi-scale convolutions which utilize the camera parameters as a conditional input, enabling the model to generalize to previously unseen fisheye cameras. Additionally, we improve the distance estimation by pairwise and patchwise vector-based self-attention encoder networks. We evaluate our approach on the Fisheye WoodScape surround-view dataset, significantly improving over previous approaches. We also show a generalization of our approach across different camera viewing angles and perform extensive experiments to support our contributions. To enable comparison with other approaches, we evaluate the front camera data on the KITTI dataset (pinhole camera images) and achieve state-of-the-art performance among self-supervised monocular methods. An overview video with qualitative results is provided at https://youtu.be/bmX0UcU9wtA. Baseline code and dataset will be made public.
