# Streaming Object Detection on Fisheye Cameras for Automatic Parking

arXiv: https://arxiv.org/abs/2305.14713 · HTML: https://mlsanity.com/paper/2305.14713/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 39 references that are in the map.
- First posted on arXiv 24 May 2023.

## Builds on (most cited first, 26 of 26)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [A ConvNet for the 2020s](https://mlsanity.com/paper/2201.03545/) (2022)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [FCOS: Fully Convolutional One-Stage Object Detection](https://mlsanity.com/paper/1904.01355/) (2019)
- [YOLO9000: Better, Faster, Stronger](https://mlsanity.com/paper/1612.08242/) (2016)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [CenterNet: Keypoint Triplets for Object Detection](https://mlsanity.com/paper/1904.08189/) (2019)
- [GMFlow: Learning Optical Flow via Global Matching](https://mlsanity.com/paper/2111.13680/) (2021)
- [3D Bounding Box Estimation Using Deep Learning and Geometry](https://mlsanity.com/paper/1612.00496/) (2016)
- [PolarMask: Single Shot Instance Segmentation with Polar Representation](https://mlsanity.com/paper/1909.13226/) (2019)
- [WoodScape: A multi-task, multi-camera fisheye dataset for autonomous driving](https://mlsanity.com/paper/1905.01489/) (2019)
- [Learning Modulated Loss for Rotated Object Detection](https://mlsanity.com/paper/1911.08299/) (2019)
- [Multi-Frame Quality Enhancement for Compressed Video](https://mlsanity.com/paper/1803.04680/) (2018)
- [Generalized Object Detection on Fisheye Cameras for Autonomous Driving: Dataset, Representations and Baseline](https://mlsanity.com/paper/2012.02124/) (2020)
- [Real-time Object Detection for Streaming Perception](https://mlsanity.com/paper/2203.12338/) (2022)
- [Poly-YOLO: higher speed, more precise detection and instance segmentation for YOLOv3](https://mlsanity.com/paper/2005.13243/) (2020)
- [Training-Time-Friendly Network for Real-Time Object Detection](https://mlsanity.com/paper/1909.00700/) (2019)
- [RAPiD: Rotation-Aware People Detection in Overhead Fisheye Images](https://mlsanity.com/paper/2005.11623/) (2020)
- [GiraffeDet: A Heavy-Neck Paradigm for Object Detection](https://mlsanity.com/paper/2202.04256/) (2022)
- [Ellipse R-CNN: Learning to Infer Elliptical Object from Clustering and Occlusion](https://mlsanity.com/paper/2001.11584/) (2020)
- [A Comprehensive Study of Real-Time Object Detection Networks Across Multiple Domains: A Survey](https://mlsanity.com/paper/2208.10895/) (2022)

## Built on by (most cited first, 1 of 1)

- [FUSEye: Training-Light Fisheye Detection with Overlapping Views and Zero-Initialized Adapters](https://mlsanity.com/paper/2610.02799/) (2026)

## Abstract (arXiv)

Fisheye cameras are widely employed in automatic parking, and the video stream object detection (VSOD) of the fisheye camera is a fundamental perception function to ensure the safe operation of vehicles. In past research work, the difference between the output of the deep learning model and the actual situation at the current moment due to the existence of delay of the perception system is generally ignored. But the environment will inevitably change within the delay time which may cause a potential safety hazard. In this paper, we propose a real-time detection framework equipped with a dual-flow perception module (dynamic and static flows) that can predict the future and alleviate the time-lag problem. Meanwhile, we use a new scheme to evaluate latency and accuracy. The standard bounding box is unsuitable for the object in fisheye camera images due to the strong radial distortion of the fisheye camera and the primary detection objects of parking perception are vehicles and pedestrians, so we adopt the rotate bounding box and propose a new periodic angle loss function to regress the angle of the box, which is the simple and accurate representation method of objects. The instance segmentation ground truth is used to supervise the training. Experiments demonstrate the effectiveness of our approach. Code is released at: https://gitee.com/hiyanyx/fisheye-streaming-perception.