In this paper we propose a robust visual odometry system for a wide-baseline camera rig with wide field-of-view (FOV) fisheye lenses, which provides full omnidirectional stereo observations of the environment. For more robust and accurate ego-motion estimation we adds three components to the standard VO pipeline, 1) the hybrid projection model for improved feature matching, 2) multi-view P3P RANSAC algorithm for pose estimation, and 3) online update of rig extrinsic parameters. The hybrid projection model combines the perspective and cylindrical projection to maximize the overlap between views and minimize the image distortion that degrades feature matching performance. The multi-view P3P RANSAC algorithm extends the conventional P3P RANSAC to multi-view images so that all feature matches in all views are considered in the inlier counting for robust pose estimation. Finally the online extrinsic calibration is seamlessly integrated in the backend optimization framework so that the changes in camera poses due to shocks or vibrations can be corrected automatically. The proposed system is extensively evaluated with synthetic datasets with ground-truth and real sequences of highly dynamic environment, and its superior performance is demonstrated.
In this paper, we present an omnidirectional localization and dense mapping system for a wide-baseline multiview stereo setup with ultra-wide field-of-view (FOV) fisheye cameras, which has a 360 degrees coverage of stereo observations of the environment. For more practical and accurate reconstruction, we first introduce improved and light-weighted deep neural networks for the omnidirectional depth estimation, which are faster and more accurate than the existing networks. Second, we integrate our omnidirectional depth estimates into the visual odometry (VO) and add a loop closing module for glo…
The University of Tokyo（东京大学）；Technical University of Munich（慕尼黑工业大学）；Artisense GmbH（Artisense有限公司）
We propose a novel real-time direct monocular visual odometry for omnidirectional cameras. Our method extends direct sparse odometry (DSO) by using the unified omnidirectional model as a projection function, which can be applied to fisheye cameras with a field-of-view (FoV) well above 180 degrees. This formulation allows for using the full area of the input image even with strong distortion, while most existing visual odometry methods can only use a rectified and cropped part of it. Model parameters within an active keyframe window are jointly optimized, including the intrinsic/extrinsic camer…
OmniTrack++: Omnidirectional Multi-Object Tracking by Learning Large-FoV Trajectory Feedback
Hunan University（湖南大学）；Zhejiang University（浙江大学）；Ant Group（蚂蚁集团）；Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；INSAIT, Sofia University ``St. Kliment Ohridski''（INSAIT，索菲亚大学『圣克莱门特·奥赫里迪斯』）
Baidu Research, Baidu Inc.（百度研究院（百度公司））；Bytedance US AI Lab（字节跳动美国人工智能实验室）；Kentucky university（肯塔基大学）
Omnidirectional 360° camera proliferates rapidly for autonomous robots since it significantly enhances the perception ability by widening the field of view(FoV). However, corresponding 360° depth sensors, which are also critical for the perception system, are still difficult or expensive to have. In this paper, we propose a low-cost 3D sensing system that combines an omnidirectional camera with a calibrated projective depth camera, where the depth from the limited FoV can be automatically extended to the rest of the recorded omnidirectional image. To accurately recover the missing depths, we d…
Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；ZEISS（蔡司公司）；Huawei Technologies（华为技术有限公司）
Convolutional Networks (ConvNets) excel at semantic segmentation and have become a vital component for perception in autonomous driving. Enabling an all-encompassing view of street-scenes, omnidirectional cameras present themselves as a perfect fit in such systems. Most segmentation models for parsing urban environments operate on common, narrow Field of View (FoV) images. Transferring these models from the domain they were designed for to 360-degree perception, their performance drops dramatically, e.g., by an absolute 30.0% (mIoU) on established test-beds. To bridge the gap in terms of FoV a…
In this paper, we propose a novel end-to-end deep neural network model for omnidirectional depth estimation from a wide-baseline multi-view stereo setup. The images captured with ultra wide field-of-view (FOV) cameras on an omnidirectional rig are processed by the feature extraction module, and then the deep feature maps are warped onto the concentric spheres swept through all candidate depths using the calibrated camera parameters. The 3D encoder-decoder block takes the aligned feature volume to produce the omnidirectional depth estimate with regularization on uncertain regions utilizing the …
Underwater360: Reconstructing Underwater Scenes from Panoramic Images with Omnidirectional Gaussian Splatting
School of Software, Dalian University of Technology（大连理工大学软件学院）；College of Computing and Data Science, Nanyang Technological University（南洋理工大学计算与数据科学学院）
Omnidirectional depth sensing has its advantage over the conventional stereo systems since it enables us to recognize the objects of interest in all directions without any blind regions. In this paper, we propose a novel wide-baseline omnidirectional stereo algorithm which computes the dense depth estimate from the fisheye images using a deep convolutional neural network. The capture system consists of multiple cameras mounted on a wide-baseline rig with ultrawide field of view (FOV) lenses, and we present the calibration algorithm for the extrinsic parameters based on the bundle adjustment. I…
Omnidirectional multi-view stereo (MVS) vision is attractive for its ultra-wide field-of-view (FoV), enabling machines to perceive 360° 3D surroundings. However, the existing solutions require expensive dense depth labels for supervision, making them impractical in real-world applications. In this paper, we propose the first unsupervised omnidirectional MVS framework based on multiple fisheye images. To this end, we project all images to a virtual view center and composite two panoramic images with spherical geometry from two pairs of back-to-back fisheye images. The two 360° images formulate …
University of Science and Technology of China（中国科学技术大学）
Objective quality assessment of stereoscopic omnidirectional images is a challenging problem since it is influenced by multiple aspects such as projection deformation, field of view (FoV) range, binocular vision, visual comfort, etc. Existing studies show that classic 2D or 3D image quality assessment (IQA) metrics are not able to perform well for stereoscopic omnidirectional images. However, very few research works have focused on evaluating the perceptual visual quality of omnidirectional images, especially for stereoscopic omnidirectional images. In this paper, based on the predictive codin…
Re-engineering SORT-based algorithms for low-cost small object tracking from omnidirectional footage
Trinity College Dublin（都柏林圣三一学院）；School of Zoology, Trinity College Dublin（都柏林圣三一学院动物学学院）；Sigmedia Group, Electronic and Electrical Engineering, Trinity College Dublin（都柏林圣三一学院电子与电气工程系Sigmedia团队）
University of Science and Technology of China（中国科学技术大学）；Ningbo University（宁波大学）
360-degree/omnidirectional images (OIs) have achieved remarkable attentions due to the increasing applications of virtual reality (VR). Compared to conventional 2D images, OIs can provide more immersive experience to consumers, benefitting from the higher resolution and plentiful field of views (FoVs). Moreover, observing OIs is usually in the head mounted display (HMD) without references. Therefore, an efficient blind quality assessment method, which is specifically designed for 360-degree images, is urgently desired. In this paper, motivated by the characteristics of the human visual system …
Waseda University（早稻田大学）；Durham University（杜伦大学）；Waseda Research Institute for Science and Engineering（早稻田大学科学与工程研究所）
Single-view depth estimation from omnidirectional images has gained popularity with its wide range of applications such as autonomous driving and scene reconstruction. Although data-driven learning-based methods demonstrate significant potential in this field, scarce training data and ineffective 360 estimation algorithms are still two key limitations hindering accurate estimation across diverse domains. In this work, we first establish a large-scale dataset with varied settings called Depth360 to tackle the training data problem. This is achieved by exploring the use of a plenteous source of …
