Document detail
ID

oai:arXiv.org:2408.12575

Topic
Computer Science - Computer Vision... Computer Science - Artificial Inte...
Author
Musabini, Antonyo Novikov, Ivan Soula, Sana Leonet, Christel Wang, Lihao Benmokhtar, Rachid Burger, Fabian Boulay, Thomas Perrotton, Xavier
Category

Computer Science

Year

2024

listing date

10/2/2024

Keywords
fisheye computer vehicles mt perception slots f-cvt
Metrics

Abstract

Current parking area perception algorithms primarily focus on detecting vacant slots within a limited range, relying on error-prone homographic projection for both labeling and inference.

However, recent advancements in Advanced Driver Assistance System (ADAS) require interaction with end-users through comprehensive and intelligent Human-Machine Interfaces (HMIs).

These interfaces should present a complete perception of the parking area going from distinguishing vacant slots' entry lines to the orientation of other parked vehicles.

This paper introduces Multi-Task Fisheye Cross View Transformers (MT F-CVT), which leverages features from a four-camera fisheye Surround-view Camera System (SVCS) with multihead attentions to create a detailed Bird-Eye View (BEV) grid feature map.

Features are processed by both a segmentation decoder and a Polygon-Yolo based object detection decoder for parking slots and vehicles.

Trained on data labeled using LiDAR, MT F-CVT positions objects within a 25m x 25m real open-road scenes with an average error of only 20 cm.

Our larger model achieves an F-1 score of 0.89.

Moreover the smaller model operates at 16 fps on an Nvidia Jetson Orin embedded board, with similar detection results to the larger one.

MT F-CVT demonstrates robust generalization capability across different vehicles and camera rig configurations.

A demo video from an unseen vehicle and camera rig is available at: https://streamable.com/jjw54x.

;Comment: This paper is a preprint of a paper submitted to the 26th Irish Machine Vision and Image Processing Conference (IMVIP 2024).

If accepted, the copy of record will be available at IET Digital Library

Musabini, Antonyo,Novikov, Ivan,Soula, Sana,Leonet, Christel,Wang, Lihao,Benmokhtar, Rachid,Burger, Fabian,Boulay, Thomas,Perrotton, Xavier, 2024, Enhanced Parking Perception by Multi-Task Fisheye Cross-view Transformers

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