Bird's-Eye View Image Acquisition from Simulated Scenes Using Geometric Inverse Perspective Mapping

2020 17th Biennial Baltic Electronics Conference (BEC 2020) 2020
Daniels Jānis Justs, Rihards Novickis, Kaspars Ozols, Modris Greitāns

Technology advancement, major investments, and mainstream interest have reignited the prospect of autonomous driving, nevertheless, the achievement of reliable perception is still an active research topic. This article examines a technique for simplifying path planning and control algorithms by reducing spacial dimensions to two, i.e. by acquiring a Bird's-Eye View (BEV) image. This article aspires to facilitate novel perception fusion approaches by specifying a geometric approach for inverse perspective mapping (IPM), construction of composite BEV of the vehicle, giving suggestions for implementation and proposing a coherent, BEV-based approach for perception fusion. The proposed geometric IPM approach for BEV image acquisition is suited for simulated environments with limited knowledge of the camera's intrinsic parameters.

Keywords
Autonomous Driving | BEV | Bird's-Eye View | Inverse Perspective Mapping | IPM | Perception Fusion
DOI
10.1109/BEC49624.2020.9277042
Hyperlink
https://ieeexplore.ieee.org/document/9277042

Justs, D., Novickis, R., Ozols, K., Greitāns, M. Bird's-Eye View Image Acquisition from Simulated Scenes Using Geometric Inverse Perspective Mapping. In: 2020 17th Biennial Baltic Electronics Conference (BEC 2020), Estonia, Tallina, 6-8 October, 2020. Piscataway: IEEE, 2020, Article number 9277042. ISBN 9781728194448. e-ISBN 978-1-7281-9444-8. ISSN 1736-3705. e-ISSN 2382-820X. Available from: doi:10.1109/BEC49624.2020.9277042

Publication language
English (en)