Authors:
Praveen Narasappareddygari
1
;
Venkatesh Karunamoorthy
1
;
Shubham Sonarghare
2
;
Ganesh Sistu
2
and
Prasad Deshpande
2
Affiliations:
1
Valeo India Pvt. Ltd., Chennai, India
;
2
Valeo Vision Systems, Tuam, Ireland
Keyword(s):
Road Marking Detection, Autonomous Parking, Multi Camera Line Detection, Birds Eye View.
Abstract:
In autonomous parking scenarios, accurate near-field environmental perception is crucial for smooth operations. Parking line detection, unlike the well-understood lane detection, poses unique challenges due to its lack of spatial consistency in orientation, location, and varied appearances in color, pattern, and background surfaces. Consequently, state-of-the-art models for lane detection, which rely on anchors and offsets, are not directly applicable. This paper introduces BEVFastLine, a novel end-to-end line marking detection architecture in Birds Eye View (BEV) space, designed for 360 ◦ multi-camera perception applications. BEVFastLine integrates our single-shot line detection methodology with advanced Inverse Perspective Mapping (IPM) techniques, notably our fast splatting technique, to efficiently detect line markings in varied spatial contexts. This approach is suitable for real-time hardware in Level-3 automated vehicles. BEVFastLine accurately localizes parking lines in BEV s
pace with up to 10 cm precision. Our methods, including the 4X faster Fast Splat and single-shot detection, surpass LSS and OFT in accuracy, achieving 80.1% precision, 90% recall, and nearly doubling the performance of BEV-based segmentation and polyline models. This streamlined solution is highly effective in complex, dynamic parking environments, offering high precision localization within 10 meters around the ego vehicle.
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