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- 저자 : Muhamamd Ishfaq Hussain (검색결과 1 건)
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A Monocular Camera Bird-Eye-View Generation using Lane Markers Prior
Muhammad Aasim Rafique,Muhamamd Ishfaq Hussain,Shikha Dubey,Khurbaev Sayfullokh,Moongu Jeon 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
Retinotopy expresses the mapping of location preservation in the mechanism of human vision. However, a perception of the semantics of observed images in a scene is computed later in the hierarchy of neural information processing. Moreover, the utility of the perception to use it for planning is another challenging task as the human perception of objects in a scene is a putative orthographic projection. A monocular view from a front camera mounted on an autonomous vehicle captures a perspective projection view. Another challenge is in the use of a monocular camera in motion planning where navigation in the absence of any prior location information is required. This work suggests a solution of mapping the perspective view in a bird-eye-view (BEV) which is close to the orthographic projection. Furthermore, it suggests the use of the same processed information in an image to generate waypoints for maneuvering of the vehicle in absence of location information. The proposed technique uses clues inherent in the road infrastructure images using lane detection and utilizes a conventional computer vision’s inverse perspective mapping technique to generate BEV. The proposed technique is tested with the video dataset captured in urban and highway traffic to show its efficacy and its utility in motion planning.
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