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Extrinsic Self-calibration of the Surround-view System: A Weakly Supervised Approach
Chen, Yang1; Zhang, Lin2; Shen, Ying3; Zhao, Brian Nlong4; Zhou, Yicong5
2023-07
Source PublicationIEEE Transactions on Multimedia
ISSN1520-9210
Volume25Pages:1622-1635
Abstract

An SVS usually consists of four wide-angle fisheye cameras mounted around the vehicle to sense the surrounding environment. From the images synchronously captured by all cameras, a top-down surround-view can be synthesized, on the premise that both intrinsics and extrinsics of the cameras have been calibrated. At present, the intrinsic calibration approach is relatively well-developed and can be pipelined, while the extrinsic calibration is still immature. On one hand, the existing manual calibration schemes are usually reliable, but need to be conducted by professionals in specific sites, which is undoubtedly cumbersome. On the other hand, the majority of the existing self- calibration schemes are based on low-level features and their stability and robustness are usually unsatisfactory. As far as we know, an effective extrinsic self-calibration scheme designed specially for the SVS is still lacking. To fill such a research gap to some extent, we propose a novel self-calibration scheme which follows a weakly supervised framework, namely WESNet (Weakly-supervised Extrinsic Self-calibration Network). The training of WESNet consists of two stages. First, we utilize the corners in a few calibration site images as the weak supervision to roughly optimize the network by minimizing the geometric loss. Then, after the convergency in the first stage, we additionally introduce a self-supervised photometric loss term that can be constructed by the photometric information from natural images for further fine-tuning. Besides, to support training, we totally collected 19,078 groups of synchronously captured fisheye images under various environmental conditions. To our knowledge, thus far this is the largest surround-view dataset containing original fisheye images. By means of learning prior knowledge from the training data, WESNet takes the original fisheye images synchronously collected as the input, and directly yields extrinsics end-to-end with little labor cost. Its efficiency and efficacy have been corroborated by extensive experiments conducted on our collected dataset. To make our results reproducible, source code and the collected dataset have been released at https://cslinzhang.github.io/WESNet/WESNet.html.

KeywordSurround-view System Weakly Supervised Learning Extrinsic Calibration Photometric Loss Surround-view Dataset
DOI10.1109/TMM.2022.3144889
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaComputer Science ; Telecommunications
WOS SubjectComputer Science, Information Systems ; Computer Science, Software Engineering ; Telecommunications
WOS IDWOS:001007432100003
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC445 HOES LANE, PISCATAWAY, NJ 08855-4141
Scopus ID2-s2.0-85123800870
Fulltext Access
Citation statistics
Document TypeJournal article
CollectionDEPARTMENT OF COMPUTER AND INFORMATION SCIENCE
Faculty of Science and Technology
Corresponding AuthorZhang, Lin
Affiliation1.School of Software Engineering, Tongji University, Shanghai, China, (e-mail: [email protected])
2.School of Software Engineering, Tongji University, Shanghai, China, 201804 (e-mail: [email protected])
3.School of Software Engineering, Tongji University, Shanghai, China, (e-mail: [email protected])
4.Department of Computer Science, University of Southern California, 5116 Los Angeles, California, United States, (e-mail: [email protected])
5.Department of Computer and Information Science, University of Macau, Macau, Macao, 999078 (e-mail: [email protected])
Recommended Citation
GB/T 7714
Chen, Yang,Zhang, Lin,Shen, Ying,et al. Extrinsic Self-calibration of the Surround-view System: A Weakly Supervised Approach[J]. IEEE Transactions on Multimedia, 2023, 25, 1622-1635.
APA Chen, Yang., Zhang, Lin., Shen, Ying., Zhao, Brian Nlong., & Zhou, Yicong (2023). Extrinsic Self-calibration of the Surround-view System: A Weakly Supervised Approach. IEEE Transactions on Multimedia, 25, 1622-1635.
MLA Chen, Yang,et al."Extrinsic Self-calibration of the Surround-view System: A Weakly Supervised Approach".IEEE Transactions on Multimedia 25(2023):1622-1635.
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