Search

In classical computer vision, rectification is an integral part of multi-view depth estimation. It typically includes epipolar rectification and lens distortion correction. This process simplifies the depth estimation significantly, and thus it has been adopted in CNN approaches. However, rectification has several side effects, including a reduced field of view (FOV), resampling distortion, and sensitivity to calibration errors. The effects are particularly pronounced in case of significant distortion (e.g., wide-angle fisheye cameras). In this paper, we propose a generic scale-aware self-supervised pipeline for estimating depth, euclidean distance, and visual odometry from unrectified monocular videos. We demonstrate a similar level of precision on the unrectified KITTI dataset with barrel distortion comparable to the rectified KITTI dataset. The intuition being that the rectification step can be implicitly absorbed within the CNN model, which learns the distortion model without increasing complexity. Our approach does not suffer from a reduced field of view and avoids computational costs for rectification at inference time. To further illustrate the general applicability of the proposed framework, we apply it to wide-angle fisheye cameras with 190$^\circ$ horizontal field of view. The training framework UnRectDepthNet takes in the camera distortion model as an argument and adapts projection and unprojection functions accordingly. The proposed algorithm is evaluated further on the KITTI rectified dataset, and we achieve state-of-the-art results that improve upon our previous work FisheyeDistanceNet. Qualitative results on a distorted test scene video sequence indicate excellent performance https://youtu.be/K6pbx3bU4Ss., Comment: Minor fixes added after IROS 2020 Camera ready submission. IROS 2020 presentation video - https://www.youtube.com/watch?v=3Br2KSWZRrY

Automotive cameras, particularly surround-view cameras, tend to get soiled by mud, water, snow, etc. For higher levels of autonomous driving, it is necessary to have a soiling detection algorithm which will trigger an automatic cleaning system. Localized detection of soiling in an image is necessary to control the cleaning system. It is also necessary to enable partial functionality in unsoiled areas while reducing confidence in soiled areas. Although this can be solved using a semantic segmentation task, we explore a more efficient solution targeting deployment in low power embedded system. We propose a novel method to regress the area of each soiling type within a tile directly. We refer to this as coverage. The proposed approach is better than learning the dominant class in a tile as multiple soiling types occur within a tile commonly. It also has the advantage of dealing with coarse polygon annotation, which will cause the segmentation task. The proposed soiling coverage decoder is an order of magnitude faster than an equivalent segmentation decoder. We also integrated it into an object detection and semantic segmentation multi-task model using an asynchronous back-propagation algorithm. A portion of the dataset used will be released publicly as part of our WoodScape dataset to encourage further research., Comment: Accepted for Oral Presentation at IEEE Intelligent Transportation Systems Conference (ITSC) 2020

Wide-angle fisheye cameras are commonly used in automated driving for parking and low-speed navigation tasks. Four of such cameras form a surround-view system that provides a complete and detailed view of the vehicle. These cameras are directly exposed to harsh environmental settings and can get soiled very easily by mud, dust, water, frost. Soiling on the camera lens can severely degrade the visual perception algorithms, and a camera cleaning system triggered by a soiling detection algorithm is increasingly being deployed. While adverse weather conditions, such as rain, are getting attention recently, there is only limited work on general soiling. The main reason is the difficulty in collecting a diverse dataset as it is a relatively rare event. We propose a novel GAN based algorithm for generating unseen patterns of soiled images. Additionally, the proposed method automatically provides the corresponding soiling masks eliminating the manual annotation cost. Augmentation of the generated soiled images for training improves the accuracy of soiling detection tasks significantly by 18% demonstrating its usefulness. The manually annotated soiling dataset and the generated augmentation dataset will be made public. We demonstrate the generalization of our fisheye trained GAN model on the Cityscapes dataset. We provide an empirical evaluation of the degradation of the semantic segmentation algorithm with the soiled data., Comment: Camera ready version + supplementary material. Accepted for presentation at Winter Conference on Applications of Computer Vision 2021

Fisheye cameras are commonly used in applications like autonomous driving and surveillance to provide a large field of view ($>180^{\circ}$). However, they come at the cost of strong non-linear distortions which require more complex algorithms. In this paper, we explore Euclidean distance estimation on fisheye cameras for automotive scenes. Obtaining accurate and dense depth supervision is difficult in practice, but self-supervised learning approaches show promising results and could potentially overcome the problem. We present a novel self-supervised scale-aware framework for learning Euclidean distance and ego-motion from raw monocular fisheye videos without applying rectification. While it is possible to perform piece-wise linear approximation of fisheye projection surface and apply standard rectilinear models, it has its own set of issues like re-sampling distortion and discontinuities in transition regions. To encourage further research in this area, we will release our dataset as part of the WoodScape project \cite{yogamani2019woodscape}. We further evaluated the proposed algorithm on the KITTI dataset and obtained state-of-the-art results comparable to other self-supervised monocular methods. Qualitative results on an unseen fisheye video demonstrate impressive performance https://youtu.be/Sgq1WzoOmXg., Comment: Minor fixes added after ICRA 2020 camera ready submission. ICRA 2020 presentation video - https://www.youtube.com/watch?v=qAsdpHP5e8c&t

Moving Object Detection (MOD) is an important task for achieving robust autonomous driving. An autonomous vehicle has to estimate collision risk with other interacting objects in the environment and calculate an optional trajectory. Collision risk is typically higher for moving objects than static ones due to the need to estimate the future states and poses of the objects for decision making. This is particularly important for near-range objects around the vehicle which are typically detected by a fisheye surround-view system that captures a 360{\deg} view of the scene. In this work, we propose a CNN architecture for moving object detection using fisheye images that were captured in autonomous driving environment. As motion geometry is highly non-linear and unique for fisheye cameras, we will make an improved version of the current dataset public to encourage further research. To target embedded deployment, we design a lightweight encoder sharing weights across sequential images. The proposed network runs at 15 fps on a 1 teraflops automotive embedded system at accuracy of 40% IoU and 69.5% mIoU., Comment: Accepted for ICCV 2019 Workshop on 360{\deg} Perception and Interaction. A shorter version was presented at IMVIP 2019

Ultrasound detection via silicon waveguides relies on the ability of acoustic waves to modulate the effective refractive index of the guided modes. However, the low photo-elastic response of silicon and silica limits the sensitivity of conventional silicon-on-insulator (SOI) sensors, in which the silicon core is surrounded by a silica cladding. In this paper, we demonstrate that the sensitivity of silicon waveguides to ultrasound may be significantly enhanced by replacing the silica over-cladding with bisbenzocyclobutene (BCB) - a transparent polymer with a high photo-elastic coefficient. In our experimental study, the response to ultrasound, in terms of the induced modulation in the effective refractive index, achieved for a BCB-coated silicon waveguide with TM polarization was comparable to values previously reported for polymer waveguides and an order of magnitude higher than the response achieved by an optical fiber. In addition, in our study the susceptibility of the sensors to surface acoustic waves and reverberations was reduced for both TE and TM modes when the BCB over-cladding was used.

Near field depth estimation around a self driving car is an important function that can be achieved by four wide angle fisheye cameras having a field of view of over 180. Depth estimation based on convolutional neural networks (CNNs) produce state of the art results, but progress is hindered because depth annotation cannot be obtained manually. Synthetic datasets are commonly used but they have limitations. For instance, they do not capture the extensive variability in the appearance of objects like vehicles present in real datasets. There is also a domain shift while performing inference on natural images illustrated by many attempts to handle the domain adaptation explicitly. In this work, we explore an alternate approach of training using sparse LiDAR data as ground truth for depth estimation for fisheye camera. We built our own dataset using our self driving car setup which has a 64 beam Velodyne LiDAR and four wide angle fisheye cameras. To handle the difference in view points of LiDAR and fisheye camera, an occlusion resolution mechanism was implemented. We started with Eigen's multiscale convolutional network architecture and improved by modifying activation function and optimizer. We obtained promising results on our dataset with RMSE errors comparable to the state of the art results obtained on KITTI.

As machine learning is applied to an increasing variety of complex problems, which are defined by high dimensional and complex data sets, the necessity for task oriented feature learning grows in importance. With the advancement of Deep Learning algorithms, various successful feature learning techniques have evolved. In this paper, we present a novel way of learning discriminative features by training Deep Neural Nets which have Encoder or Decoder type architecture similar to an Autoencoder. We demonstrate that our approach can learn discriminative features which can perform better at pattern classification tasks when the number of training samples is relatively small in size., Comment: 12 pages, 8 figures and 8 tables

Blu-ray is the name of a next-generation optical disc format jointly developed by the Blu-ray Disc Association a group of the world's leading consumer electronics, personal computer and media manufacturers. The format was developed to enable recording, rewriting and playback of high-definition video, as well as storing large amounts of data. This extra capacity combined with the use of advanced video and audio codec will offer consumers an unprecedented HD experience. While current optical disc technologies such as DVD and DVDRAM rely on a red laser to read and write data, the new format uses a blue-violet laser instead, hence the name Blu-ray. Blu ray also promises some added security, making ways for copyright protections. Blu-ray discs can have a unique ID written on them to have copyright protection inside the recorded streams. Blu .ray disc takes the DVD technology one step further, just by using a laser with a nice color., Comment: 10 pages International Journal of Computer Engineering and Applications; 2013