NVIDIA Corporation
OBJECT DETECTION USING PLANAR HOMOGRAPHY AND SELF-SUPERVISED SCENE STRUCTURE UNDERSTANDING

Abstract:

In various examples, a single camera is used to capture two images of a scene from different locations. A trained neural network, taking the two images as inputs, outputs a scene structure map that indicates a ratio of height and depth values for pixel locations associated with the images. This ratio may indicate the presence of an object above a surface (e.g., road surface) within the scene. Object detection then can be performed on non-zero values or regions within the scene structure map.