HC2022.NODAR.LeafJiang.v02.pdf

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1、NODAR 3D Vision SystemEnabling Mass Production of Autonomous VehiclesHot Chips 34August 21-23,2022Mass Production of Autonomous VehiclesPath to the production of 100M units/yearQuantityTimeQty 100MProductionValidationFeasibilityQty 1Qty 100DARPA Grand Challenge2004-2007Investments in AV Tech($100B)2

2、007-2022Production2022-CostReliabilityRangeDensityNeed high-resolution 3D sensing to solve AV problemSpinning multi-channel lidar3D from cameras using softwareWide-Baseline Stereo Vision CameraExquisitely dense and accurate point clouds to 1000+metersLong Range Data CollectionCaptures bridge crossin

3、g and reconstructs accurately as ego truck passes under bridge that casts a strong shadow on the roadCaptures repetitive patterns of the road railing barriers on right hand sideCaptures vehicles from near(12.2 m)to far(1.5 km)range432m20m78m124m347m582mStereo Vision PrincipleWider baseline gives lon

4、ger rangeObjectLensCMOS sensorSmall shiftShort baselineShort baseline stereo vision has trouble discerning the shift of the image at long rangesStereo Vision PrincipleWider baseline gives longer rangeWide baseline gives sensor access to longer ranges but need to solve calibration problem for stereo

5、cameras mounted on vehicles where maintaining 0.01 optical alignment is virtually impossible with shock and vibrationObjectLensCMOS sensorSmall shiftLarge shiftShort baselineWide baselineShort baseline stereo vision has trouble discerning the shift of the image at long rangesStereo Vision PrincipleN

6、ODAR solves decade-old online calibration problemYou cant ship an engineer with a product.Image of camera and person with checkerboardSo researcher have been working on online calibration using natural scenes for the last 30+years.Rectification geometry graphicNatural Scenes graphicHigh BandwidthSub