Real-time Detection and Avoidance of Obstacles in the Path of Autonomous Vehicles Using Monocular RGB Camera

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Real-time Detection and Avoidance of Obstacles in the Path of Autonomous Vehicles Using Monocular RGB Camera

Ravindran, Aniruddh / Mallik, Apurbaa / Singh, Gurjeet / Revalla, Hitha / Gaopande, Meghana Laxmidhar / Chao, Steven / Nagasamy, Vijay / Iqbal, Zafar

Abstract

In this paper, we present an end-to-end real-time detection and collision avoidance framework in an autonomous vehicle using a monocular RGB camera. The proposed system is able to run on embedded hardware in the vehicle to perform real-time detection of small objects. RetinaNet architecture with ResNet50 backbone is used to develop the object detection model using RGB images. A quantized version of the object detection inference model is implemented in the vehicle using NVIDIA Jetson AGX Xavier. A geometric method is used to estimate the distance to the detected object which is forwarded to a MicroAutoBox device that implements the control system of the vehicle and is responsible for maneuvering around the detected objects. The pipeline is implemented on a passenger vehicle and demonstrated in challenging conditions using different obstacles on a predefined set of waypoints. Our results show that the system is capable of detecting objects that appear in an image area as small as 20×30 pixels in a 1280×720 image and can run at a speed of 24 frames per second (FPS) on the embedded device in the vehicle. A data analyzer is also employed to visualize the real-time performance of the system.

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Document information

Title :

Real-time Detection and Avoidance of Obstacles in the Path of Autonomous Vehicles Using Monocular RGB Camera

Additional title:

Sae Int. J. Adv. and Curr. Prac. in Mobility

Contributors:

Ravindran, Aniruddh (author) / Mallik, Apurbaa (author) / Singh, Gurjeet (author) / Revalla, Hitha (author) / Gaopande, Meghana Laxmidhar (author) / Chao, Steven (author) / Nagasamy, Vijay (author) / Iqbal, Zafar (author)

Conference:

WCX SAE World Congress Experience ; 2022

Published in:

Sae International Journal of Advances and Current Practices in Mobility ; 5 , 2 ; 622-632

Publication date :

2022-03-29

Size :

11 pages

ISSN :

2641-9645 , 2641-9637

DOI :

https://doi.org/10.4271/2022-01-0074