360° detection and tracking algorithm of both pedestrian and vehicle using fisheye images

June 4, 2015 in Publications, year 4 by admin

Massimo Bertozzi, Luca Castangia, Stafano Cattani, Antonio Prioletti, and Pietro Versari

IEEE Intelligent Vehicles Symposium 2015 (IV2015)

All-around view is a mandatory element for autonomous vehicles. The European V-Charge project seeks to develop an autonomous vehicle using only low-cost sensors. This paper presents a detection and tracking algorithm that covers all the area around the vehicle using 4 fisheyecameras only. The algorithm is able to detect pedestrians and vehicles and track them, using cylindrical images. This paper presents the whole pipeline, from the image un-warping to the classification and the tracking algorithms, together with some results.

author="Massimo Bertozzi AND Luca Castangia AND Stefano Cattani AND Antonio Prioletti AND Pietro Versari",
title="{360$^\circ$ Detection and Tracking Algorithm of both Pedestrian and Vehicle using Fisheye images}",
booktitle = "Procs.~IEEE Intelligent Vehicles Symposium 2015",
address = "Seoul, Korea",