Justs, D., Novickis, R., Ozols, K., Greitāns M. (2020). Bird’s-eye view image acquisition from simulated scenes using geometric inverse perspective mapping. 17th Biennial Baltic Electronics Conference (BEC2020), Tallinn, Estonia.

Abstract:
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 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.