Multi-task near-field perception for autonomous driving using surround-view fisheye cameras

Die Bildung der Augen führte zum Urknall der Evolution. Die Dynamik änderte sich von einem primitiven Organismus, der auf den Kontakt mit der Nahrung wartete, zu einem Organismus, der durch visuelle Sensoren gesucht wurde. Das menschliche Auge ist eine der raffiniertesten Entwicklungen der Evolution, aber es hat immer noch Mängel. Der Mensch hat über Millionen von Jahren einen biologischen Wahrnehmungsalgorithmus entwickelt, der in der Lage ist, Autos zu fahren, Maschinen zu bedienen, Flugzeuge zu steuern und Schiffe zu navigieren. Die Automatisierung dieser Fähigkeiten für Computer ist entscheidend für verschiedene Anwendungen, darunter selbstfahrende Autos, Augmented Realität und architektonische Vermessung. Die visuelle Nahfeldwahrnehmung im Kontext von selbstfahrenden Autos kann die Umgebung in einem Bereich von 0 - 10 Metern und 360° Abdeckung um das Fahrzeug herum wahrnehmen. Sie ist eine entscheidende Entscheidungskomponente bei der Entwicklung eines sichereren automatisierten Fahrens. Jüngste Fortschritte im Bereich Computer Vision und Deep Learning in Verbindung mit hochwertigen Sensoren wie Kameras und LiDARs haben ausgereifte Lösungen für die visuelle Wahrnehmung hervorgebracht. Bisher stand die Fernfeldwahrnehmung im Vordergrund. Ein weiteres wichtiges Problem ist die begrenzte Rechenleistung, die für die Entwicklung von Echtzeit-Anwendungen zur Verfügung steht. Aufgrund dieses Engpasses kommt es häufig zu einem Kompromiss zwischen Leistung und Laufzeiteffizienz. Wir konzentrieren uns auf die folgenden Themen, um diese anzugehen: 1) Entwicklung von Nahfeld-Wahrnehmungsalgorithmen mit hoher Leistung und geringer Rechenkomplexität für verschiedene visuelle Wahrnehmungsaufgaben wie geometrische und semantische Aufgaben unter Verwendung von faltbaren neuronalen Netzen. 2) Verwendung von Multi-Task-Learning zur Überwindung von Rechenengpässen durch die gemeinsame Nutzung von initialen Faltungsschichten zwischen den Aufgaben und die Entwicklung von Optimierungsstrategien, die die Aufgaben ausbalancieren.The formation of eyes led to the big bang of evolution. The dynamics changed from a primitive organism waiting for the food to come into contact for eating food being sought after by visual sensors. The human eye is one of the most sophisticated developments of evolution, but it still has defects. Humans have evolved a biological perception algorithm capable of driving cars, operating machinery, piloting aircraft, and navigating ships over millions of years. Automating these capabilities for computers is critical for various applications, including self-driving cars, augmented reality, and architectural surveying. Near-field visual perception in the context of self-driving cars can perceive the environment in a range of 0 - 10 meters and 360° coverage around the vehicle. It is a critical decision-making component in the development of safer automated driving. Recent advances in computer vision and deep learning, in conjunction with high-quality sensors such as cameras and LiDARs, have fueled mature visual perception solutions. Until now, far-field perception has been the primary focus. Another significant issue is the limited processing power available for developing real-time applications. Because of this bottleneck, there is frequently a trade-off between performance and run-time efficiency. We concentrate on the following issues in order to address them: 1) Developing near-field perception algorithms with high performance and low computational complexity for various visual perception tasks such as geometric and semantic tasks using convolutional neural networks. 2) Using Multi-Task Learning to overcome computational bottlenecks by sharing initial convolutional layers between tasks and developing optimization strategies that balance tasks

Multi-Object Detection, Pose Estimation and Tracking in Panoramic Monocular Imagery for Autonomous Vehicle Perception

While active sensing such as radars, laser-based ranging (LiDAR) and ultrasonic sensors are nearly ubiquitous in modern autonomous vehicle prototypes, cameras are more versatile because they are nonetheless essential for tasks such as road marking detection and road sign reading. Active sensing technologies are widely used because active sensors are, by nature, usually more reliable than cameras to detect objects, however they are lower resolution, break in challenging environmental conditions such as rain and heavy reflections, as well as materials such as black paint. Therefore, in this work, we focus primarily on passive sensing technologies. More specifically, we look at monocular imagery and to what extent, it can be used as replacement for more complex sensing systems such as stereo, multi-view cameras and LiDAR. Whilst the main strength of LiDAR is its ability to measure distances and naturally enable 3D reasoning; in contrast, camera-based object detection is typically restricted to the 2D image space. We propose a convolutional neural network extending object detection to estimate the 3D pose and velocity of objects from a single monocular camera. Our approach is based on a siamese neural network able to process pair of video frames to integrate temporal information. While the prior work has focused almost exclusively on the processing of forward-facing rectified rectilinear vehicle mounted cameras, there are no studies of panoramic imagery in the context of autonomous driving. We introduce an approach to adapt existing convolutional neural networks to unseen 360° panoramic imagery using domain adaptation via style transfer. We also introduce a new synthetic evaluation dataset and benchmark for 3D object detection and depth estimation in automotive panoramic imagery. Multi-object tracking-by-detection is often split into two parts: a detector and a tracker. In contrast, we investigate the use of end-to-end recurrent convolutional networks to process automotive video sequences to jointly detect and track objects through time. We present a multitask neural network able to track online the 3D pose of objects in panoramic video sequences. Our work highlights that monocular imagery, in conjunction with the proposed algorithmic approaches, can offer an effective replacement for more expensive active sensors to estimate depth, to estimate and track the 3D pose of objects surrounding the ego-vehicle; thus demonstrating that autonomous driving could be achieved using a limited number of cameras or even a single 360° panoramic camera, akin to a human driver perception

Viewpoint-Free Photography for Virtual Reality

Viewpoint-free photography, i.e., interactively controlling the viewpoint of a photograph after capture, is a standing challenge. In this thesis, we investigate algorithms to enable viewpoint-free photography for virtual reality (VR) from casual capture, i.e., from footage easily captured with consumer cameras. We build on an extensive body of work in image-based rendering (IBR). Given images of an object or scene, IBR methods aim to predict the appearance of an image taken from a novel perspective. Most IBR methods focus on full or near-interpolation, where the output viewpoints either lie directly between captured images, or nearby. These methods are not suitable for VR, where the user has significant range of motion and can look in all directions. Thus, it is essential to create viewpoint-free photos with a wide field-of-view and sufficient positional freedom to cover the range of motion a user might experience in VR. We focus on two VR experiences: 1) Seated VR experiences, where the user can lean in different directions. This simplifies the problem, as the scene is only observed from a small range of viewpoints. Thus, we focus on easy capture, showing how to turn panorama-style capture into 3D photos, a simple representation for viewpoint-free photos, and also how to speed up processing so users can see the final result on-site. 2) Room-scale VR experiences, where the user can explore vastly different perspectives. This is challenging: More input footage is needed, maintaining real-time display rates becomes difficult, view-dependent appearance and object backsides need to be modelled, all while preventing noticeable mistakes. We address these challenges by: (1) creating refined geometry for each input photograph, (2) using a fast tiled rendering algorithm to achieve real-time display rates, and (3) using a convolutional neural network to hide visual mistakes during compositing. Overall, we provide evidence that viewpoint-free photography is feasible from casual capture. We thoroughly compare with the state-of-the-art, showing that our methods achieve both a numerical improvement and a clear increase in visual quality for both seated and room-scale VR experiences