Continuous Online Extrinsic Calibration of Fisheye Camera and LiDAR

Automated driving systems use multi-modal sensor suites to ensure the reliable, redundant and robust perception of the operating domain, for example camera and LiDAR. An accurate extrinsic calibration is required to fuse the camera and LiDAR data into a common spatial reference frame required by high-level perception functions. Over the life of the vehicle the value of the extrinsic calibration can change due physical disturbances, introducing an error into the high-level perception functions. Therefore there is a need for continuous online extrinsic calibration algorithms which can automatically update the value of the camera-LiDAR calibration during the life of the vehicle using only sensor data. We propose using mutual information between the camera image's depth estimate, provided by commonly available monocular depth estimation networks, and the LiDAR pointcloud's geometric distance as a optimization metric for extrinsic calibration. Our method requires no calibration target, no ground truth training data and no expensive offline optimization. We demonstrate our algorithm's accuracy, precision, speed and self-diagnosis capability on the KITTI-360 data set.Comment: 4 page

Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds

Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural network based state-of-the-art 3D detector and visual semantic segmentation in the context of autonomous driving. Additionally, we introduce Scale-Rotation-Translation score (SRTs), a fast and highly parameterizable evaluation metric for comparison of object detections, which speeds up our inference time up to 20\% and halves training time. On top, we apply state-of-the-art online multi target feature tracking on the object measurements to further increase accuracy and robustness utilizing temporal information. Our experiments on KITTI show that we achieve same results as state-of-the-art in all related categories, while maintaining the performance and accuracy trade-off and still run in real-time. Furthermore, our model is the first one that fuses visual semantic with 3D object detection

Radial extracorporeal shock wave treatment harms developing chicken embryos

Radial extracorporeal shock wave treatment (rESWT) has became one of the best investigated treatment modalities for cellulite, including the abdomen as a treatment site. Notably, pregnancy is considered a contraindication for rESWT, and concerns have been raised about possible harm to the embryo when a woman treated with rESWT for cellulite is not aware of her pregnancy. Here we tested the hypothesis that rESWT may cause serious physical harm to embryos. To this end, chicken embryos were exposed in ovo to various doses of radial shock waves on either day 3 or day 4 of development, resembling the developmental stage of four- to six-week-old human embryos. We found a dose-dependent increase in the number of embryos that died after radial shock wave exposure on either day 3 or day 4 of development. Among the embryos that survived the shock wave exposure a few showed severe congenital defects such as missing eyes. Evidently, our data cannot directly be used to draw conclusions about potential harm to the embryo of a pregnant woman treated for cellulite with rESWT. However, to avoid any risks we strongly recommend applying radial shock waves in the treatment of cellulite only if a pregnancy is ruled out

Radial extracorporeal shock wave treatment harms developing chicken embryos

Radial extracorporeal shock wave treatment (rESWT) has became one of the best investigated treatment modalities for cellulite, including the abdomen as a treatment site. Notably, pregnancy is considered a contraindication for rESWT, and concerns have been raised about possible harm to the embryo when a woman treated with rESWT for cellulite is not aware of her pregnancy. Here we tested the hypothesis that rESWT may cause serious physical harm to embryos. To this end, chicken embryos were exposed in ovo to various doses of radial shock waves on either day 3 or day 4 of development, resembling the developmental stage of four- to six-week-old human embryos. We found a dose-dependent increase in the number of embryos that died after radial shock wave exposure on either day 3 or day 4 of development. Among the embryos that survived the shock wave exposure a few showed severe congenital defects such as missing eyes. Evidently, our data cannot directly be used to draw conclusions about potential harm to the embryo of a pregnant woman treated for cellulite with rESWT. However, to avoid any risks we strongly recommend applying radial shock waves in the treatment of cellulite only if a pregnancy is ruled out