Trajectory estimation and 3D scene reconstruction from multiple cameras (also referred as Structure from Motion, SfM) will have a central role in the future of automotive industry. Typical appliance fields will be: autonomous navigation/guidance, collisions avoidance against static or moving objects (in particular pedestrians), parking assisted maneuvers and many more. The work exposed in this paper had mainly two different goals: (1) to describe the implementation of a real time embedded SfM modular pipeline featuring a dedicated optimized HW/SW system partitioning. It included also nonlinear optimizations such as local and global bundle adjustment at different stages of the pipeline; (2) to demonstrate quantitatively its performances on a synthetic test space specifically designed for its characterization. In order to make the system reliable and effective, providing the driver or the autonomous vehicle with a prompt response, the data rates and low latency of the 5G communication systems appear to make this choice the most promising communication solution.

Accurate omnidirectional multi-camera embedded structure from motion

PARACCHINI, MARCO BRANDO MARIO;MARCON, MARCO;
2016-01-01

Abstract

Trajectory estimation and 3D scene reconstruction from multiple cameras (also referred as Structure from Motion, SfM) will have a central role in the future of automotive industry. Typical appliance fields will be: autonomous navigation/guidance, collisions avoidance against static or moving objects (in particular pedestrians), parking assisted maneuvers and many more. The work exposed in this paper had mainly two different goals: (1) to describe the implementation of a real time embedded SfM modular pipeline featuring a dedicated optimized HW/SW system partitioning. It included also nonlinear optimizations such as local and global bundle adjustment at different stages of the pipeline; (2) to demonstrate quantitatively its performances on a synthetic test space specifically designed for its characterization. In order to make the system reliable and effective, providing the driver or the autonomous vehicle with a prompt response, the data rates and low latency of the 5G communication systems appear to make this choice the most promising communication solution.
2016
2016 IEEE 2nd International Forum on Research and Technologies for Society and Industry Leveraging a better tomorrow (RTSI)
978-1-5090-1131-5
978-1-5090-1131-5
Automobiles,Cameras;Industries,Pipelines,Three-dimensional displays,Visualization
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1004096
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