mlsanityData to 14 Oct 2026

Near-field Perception for Low-Speed Vehicle Automation using Surround-view Fisheye Cameras

arXiv 2103.17001 ↗First posted 31 Mar 2021cs.CV cs.ROcited by 24

Not on the map. Why?

Abstract (arXiv)

Cameras are the primary sensor in automated driving systems. They provide high information density and are optimal for detecting road infrastructure cues laid out for human vision. Surround-view camera systems typically comprise of four fisheye cameras with 190deg+ field of view covering the entire 360deg around the vehicle focused on near-field sensing. They are the principal sensors for low-speed, high accuracy, and close-range sensing applications, such as automated parking, traffic jam assistance, and low-speed emergency braking. In this work, we provide a detailed survey of such vision systems, setting up the survey in the context of an architecture that can be decomposed into four modular components namely Recognition, Reconstruction, Relocalization, and Reorganization. We jointly call this the 4R Architecture. We discuss how each component accomplishes a specific aspect and provide a positional argument that they can be synergized to form a complete perception system for low-speed automation. We support this argument by presenting results from previous works and by presenting architecture proposals for such a system. Qualitative results are presented in the video at https://youtu.be/ae8bCOF77uY.

Key facts. Cited by 24 papers in the map (data through 14 Oct 2026). Builds on 53 of its 138 references that are in the map. First posted on arXiv 31 Mar 2021.

Builds on

53 of 138 references.

References · 53

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,639
  3. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,444
  4. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 988
  5. 2017Unsupervised Learning of Depth and Ego-Motion from Videocited by 782
  6. 2018Deep Ordinal Regression Network for Monocular Depth Estimationcited by 723
  7. 2014Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecturecited by 483
  8. 2018Spherical CNNscited by 456
  9. 20193D Packing for Self-Supervised Monocular Depth Estimationcited by 439
  10. 2019A Survey of Autonomous Driving: Common Practices and Emerging Technologiescited by 379
  11. 2016ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentationcited by 291
  12. 2019What Do Single-view 3D Reconstruction Networks Learn?cited by 260
38 more
  1. 2019GA-Net: Guided Aggregation Net for End-to-end Stereo Matchingcited by 244
  2. 2021Back to the Feature: Learning Robust Camera Localization from Pixels to Posecited by 199
  3. 2017DeepVO: Towards End-to-End Visual Odometry with Deep Recurrent Convolutional Neural Networkscited by 175
  4. 2019Self-Driving Cars: A Surveycited by 148
  5. 2019WoodScape: A multi-task, multi-camera fisheye dataset for autonomous drivingcited by 144
  6. 2020Deep Learning for Image and Point Cloud Fusion in Autonomous Driving: A Reviewcited by 108
  7. 2019Deep Learning in Video Multi-Object Tracking: A Surveycited by 107
  8. 2018Every Pixel Counts ++: Joint Learning of Geometry and Motion with 3D Holistic Understandingcited by 101
  9. 2020ViP-DeepLab: Learning Visual Perception with Depth-aware Video Panoptic Segmentationcited by 96
  10. 2019How do neural networks see depth in single images?cited by 82
  11. 2021Explainability of deep vision-based autonomous driving systems: Review and challengescited by 80
  12. 2021OmniDet: Surround View Cameras based Multi-task Visual Perception Network for Autonomous Drivingcited by 57
  13. 2018The Double Sphere Camera Modelcited by 52
  14. 2020SynDistNet: Self-Supervised Monocular Fisheye Camera Distance Estimation Synergized with Semantic Segmentation for Autonomous Drivingcited by 48
  15. 2020Generalized Object Detection on Fisheye Cameras for Autonomous Driving: Dataset, Representations and Baselinecited by 42
  16. 2019FisheyeDistanceNet: Self-Supervised Scale-Aware Distance Estimation using Monocular Fisheye Camera for Autonomous Drivingcited by 36
  17. 2018LoST? Appearance-Invariant Place Recognition for Opposite Viewpoints using Visual Semanticscited by 34
  18. 2020Dynamic Task Weighting Methods for Multi-task Networks in Autonomous Driving Systemscited by 34
  19. 2020UnRectDepthNet: Self-Supervised Monocular Depth Estimation using a Generic Framework for Handling Common Camera Distortion Modelscited by 33
  20. 2017Reconfiguring the Imaging Pipeline for Computer Visioncited by 32
  21. 2019FuseMODNet: Real-Time Camera and LiDAR based Moving Object Detection for robust low-light Autonomous Drivingcited by 26
  22. 2017Deep Semantic Segmentation for Automated Driving: Taxonomy, Roadmap and Challengescited by 24
  23. 2019Challenges in Designing Datasets and Validation for Autonomous Drivingcited by 23
  24. 2020Monocular Instance Motion Segmentation for Autonomous Driving: KITTI InstanceMotSeg Dataset and Multi-task Baselinecited by 21
  25. 2017Multi-Class Model Fitting by Energy Minimization and Mode-Seekingcited by 19
  26. 2018Monocular Fisheye Camera Depth Estimation Using Sparse LiDAR Supervisioncited by 19
  27. 2019AuxNet: Auxiliary tasks enhanced Semantic Segmentation for Automated Drivingcited by 19
  28. 2019FisheyeMODNet: Moving Object detection on Surround-view Cameras for Autonomous Drivingcited by 18
  29. 2018Real-time Dynamic Object Detection for Autonomous Driving using Prior 3D-Mapscited by 17
  30. 2019SoilingNet: Soiling Detection on Automotive Surround-View Camerascited by 14
  31. 2020Trained Trajectory based Automated Parking System using Visual SLAM on Surround View Camerascited by 14
  32. 20203D Object Detection from a Single Fisheye Image Without a Single Fisheye Training Imagecited by 13
  33. 2019Convolutions on Spherical Imagescited by 12
  34. 2018RTSeg: Real-time Semantic Segmentation Comparative Studycited by 11
  35. 2019NeurAll: Towards a Unified Visual Perception Model for Automated Drivingcited by 11
  36. 2017Keyframe-Based Visual-Inertial Online SLAM with Relocalizationcited by 6
  37. 2019FisheyeMultiNet: Real-time Multi-task Learning Architecture for Surround-view Automated Parking Systemcited by 6
  38. 2017Dual-fisheye lens stitching for 360-degree imagingcited by 5

50 most cited of 53 All 53 (JSON)

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 3; 2022: 7; 2023: 5; 2024: 7; 2025: 1; 2026: 1.

24 papers.

Sort:

  1. 2022Review on Panoramic Imaging and Its Applications in Scene Understandingcited by 43
  2. 2022Surround-view Fisheye Camera Perception for Automated Driving: Overview, Survey and Challengescited by 34
  3. 2022SynWoodScape: Synthetic Surround-view Fisheye Camera Dataset for Autonomous Drivingcited by 32
  4. 2021Spatio-Contextual Deep Network Based Multimodal Pedestrian Detection For Autonomous Drivingcited by 25
  5. 2022Emergent Visual Sensors for Autonomous Vehiclescited by 19
  6. 2022Panoramic Panoptic Segmentation: Insights Into Surrounding Parsing for Mobile Agents via Unsupervised Contrastive Learningcited by 14
  7. 2021An Online Learning System for Wireless Charging Alignment using Surround-view Fisheye Camerascited by 9
  8. 2023FishDreamer: Towards Fisheye Semantic Completion via Unified Image Outpainting and Segmentationcited by 6
  9. 2022Woodscape Fisheye Object Detection for Autonomous Driving -- CVPR 2022 OmniCV Workshop Challengecited by 3
  10. 2023BEVSeg2TP: Surround View Camera Bird's-Eye-View Based Joint Vehicle Segmentation and Ego Vehicle Trajectory Predictioncited by 3
  11. 2024Surround-View Fisheye Optics in Computer Vision and Simulation: Survey and Challengescited by 3
  12. 2025FishBEV: Distortion-Resilient Bird's Eye View Segmentation with Surround-View Fisheye Camerascited by 3
12 more
  1. 2026Rethinking Camera Choice: An Empirical Study on Fisheye Camera Properties in Robotic Manipulationcited by 3
  2. 2024Fisheye Camera and Ultrasonic Sensor Fusion For Near-Field Obstacle Perception in Bird's-Eye-Viewcited by 2
  3. 2024DaF-BEVSeg: Distortion-aware Fisheye Camera based Bird's Eye View Segmentation with Occlusion Reasoningcited by 2
  4. 2024FisheyeDetNet: 360deg Surround view Fisheye Camera based Object Detection System for Autonomous Drivingcited by 2
  5. 20212.5D Vehicle Odometry Estimationcited by 1
  6. 2024Measuring Natural Scenes SFR of Automotive Fisheye Camerascited by 1
  7. 2022UnShadowNet: Illumination Critic Guided Contrastive Learning For Shadow Removalcited by 0
  8. 2023Near Field iToF LIDAR Depth Improvement from Limited Number of Shotscited by 0
  9. 2023STRIDE: Street View-based Environmental Feature Detection and Pedestrian Collision Predictioncited by 0
  10. 2023WoodScape Motion Segmentation for Autonomous Driving -- CVPR 2023 OmniCV Workshop Challengecited by 0
  11. 2024Neural Rendering based Urban Scene Reconstruction for Autonomous Drivingcited by 0
  12. 2024Impact of Video Compression Artifacts on Fisheye Camera Visual Perception Taskscited by 0