YOLO-BEV: Generating Bird's-Eye View in the Same Way as 2D Object Detection

원문 초록

Vehicle perception systems strive to achieve comprehensive and rapid visual interpretation of their surroundings for improved safety and navigation. We introduce YOLO-BEV, an efficient framework that harnesses a unique surrounding cameras setup to generate a 2D bird's-eye view of the vehicular environment. By strategically positioning eight cameras, each at a 45-degree interval, our system captures and integrates imagery into a coherent 3x3 grid format, leaving the center blank, providing an enriched spatial representation that facilitates efficient processing. In our approach, we employ YOLO's detection mechanism, favoring its inherent advantages of swift response and compact model structure. Instead of leveraging the conventional YOLO detection head, we augment it with a custom-designed detection head, translating the panoramically captured data into a unified bird's-eye view map of ego car. Preliminary results validate the feasibility of YOLO-BEV in real-time vehicular perception tasks. With its streamlined architecture and potential for rapid deployment due to minimized parameters, YOLO-BEV poses as a promising tool that may reshape future perspectives in autonomous driving systems.