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OECS: Towards online extrinsics correction for the surround-view system
Zhang, Tianjun1; Zhang, Lin1; Shen, Ying1; Ma, Yong2; Zhao, Shengjie1; Zhou, Yicong3
2020-07-01
Conference Name2020 IEEE International Conference on Multimedia and Expo (ICME)
Source PublicationProceedings - IEEE International Conference on Multimedia and Expo
Volume2020-July
Conference Date6-10 July 2020
Conference PlaceELECTR NETWORK
Abstract

A typical surround-view system consists of four fisheye cameras. By performing an offline calibration that determines both the intrinsics and extrinsics of the system, surround-view images can be synthesized at runtime. However, poses of calibrated cameras sometimes may change. In such a case, if cameras' extrinsics are not updated accordingly, observable geometric misalignment will appear in surround-views. Most existing solutions to this problem resort to re-calibration, which is quite cumbersome. Thus, how to correct cameras' extrinsics in an online manner without using re-calibration is still an open issue. In this paper, we attempt to propose a novel solution to this problem and the proposed solution is referred to as 'Online Extrinsics Correction for the Surround-view system OECS for short. We first design a Bi-Camera error model, measuring the photometric discrepancy between two corresponding pixels on images captured by two adjacent cameras. Then, by minimizing the system's overall BiCamera error, cameras' extrinsics can be optimized and the optimization is conducted within a sparse direct framework. The efficacy and efficiency of OECS are validated by experiments. Data and source code used in this work are publicly available at https://z619850002.github.io/OECage/.

KeywordBird's-eye View Online Extrinsics Correction Online Extrinsics Correction, Sparse Direct Method, Surround-view System, Bird' S-eye View Sparse Direct Method Surround-view System
DOI10.1109/ICME46284.2020.9102803
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaComputer Science ; Engineering
WOS SubjectComputer Science, Software Engineering ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic
WOS IDWOS:000612843900071
Scopus ID2-s2.0-85090397680
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Document TypeConference paper
CollectionDEPARTMENT OF COMPUTER AND INFORMATION SCIENCE
Corresponding AuthorZhang, Lin; Shen, Ying
Affiliation1.Tongji University, School of Software Engineering, Shanghai, China
2.Jiangxi Normal University, School of Computer Information Engineering, China
3.University of Macau, Department of Computer and Information Science, Macao
Recommended Citation
GB/T 7714
Zhang, Tianjun,Zhang, Lin,Shen, Ying,et al. OECS: Towards online extrinsics correction for the surround-view system[C], 2020.
APA Zhang, Tianjun., Zhang, Lin., Shen, Ying., Ma, Yong., Zhao, Shengjie., & Zhou, Yicong (2020). OECS: Towards online extrinsics correction for the surround-view system. Proceedings - IEEE International Conference on Multimedia and Expo, 2020-July.
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