Engineering Commons^™

Fisheyemodnet: Moving Object Detection On Surround-View Cameras For Autonomous Driving, Marie Yahiaoui, Hazem Rashed, Letizia Mariotti, Ganesh Sistu, Ian Clancy, Lucie Yahiaoui, Senthil Yogamani

Session 6: Applications, Architecture and Systems Integration

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 surroundview system that captures a 360± view of the scene. In this work, we propose a CNN architecture for moving object detection …