Correcting Perspectivity — Homography based IPM In computer vision, homography is a transformation matrix H when applied on a projective plane maps it to another plane (or image). In the case of Inverse Perspective Mapping (IPM), we want to produce a birds-eye view image of the scene from the front-facing image plane. In the field of…

Going anchor-free for object detection — Introduction Since the development of convolutional neural networks, object detection has been dominating by anchor-based methods such as FasterRCNN, RetinaNet and SSD. These methods rely on a large number of preset anchors tiled onto the image. Each anchor predicting if an object is contained and the refinement of the coordinates. Recently…

Learning depth without manual annotation — 1. Overview This post was last updated on 10/08/2020

Depth Is Essential For 3D Vision Measuring distance relative to a camera remains difficult but absolutely key to unlocking exciting applications such as autonomous driving, 3D scene reconstruction and AR. In robotics, depth is a key prerequisite to perform multiple tasks such as perception, navigation, and planning. Creating a 3D map would be another interesting application…

Lidars and cameras are two essential sensors for perception and scene understanding. They build an environment in tandem and provide a means for detection and localisation of other objects, giving robots rich semantic information required for safe navigation. Many researchers have started exploring multi-modal approaches for precise 3D object detection…

Depth and Inverse Projection When an image of a scene is captured by a camera, we lose depth information as objects and points in 3D space are mapped onto a 2D image plane. This is also known as a projective transformation, in which points in the world are converted to pixels on a 2d…

The math and code behind Image warping — Geometric transformation is pervasive in Computer Vision Geometric transformation is an essential image processing techniques that have wide applications. For example, a simple use case would be in computer graphics to simply rescale the graphics content when displaying it on a desktop vs mobile. It could also be applied to projectively warp an image to another image…