ETH Zurich - D-INFK - IVC - CVG - Research - V-Charge

V-Charge: Automated Valet Parking and Charging for e-Mobility



Collaborative Project no. FP7-269916

The project V-Charge is an EU funded collaborative project which aims for fully autonomous charging and parking of electrical vehicles. It is based on the vision that due to required drastic decrease in CO2 production mobility will undergo important changes. The main idea is that a driver will drop off the car at a special zone called the drop off zone for example in front of a train station or an airport. The car then drives itself to the charging spot and once charged will move automatically to a parking spot until it is called back to the pickup zone using a mobile phone application.

The project covers research questions in different disciplines such as computer vision, robotics and vehicle communication. In order to cover all the individual aspects of the project the consortium is composed of four universities and two industrial partners. From ETH Zürich the Computer Vision and Geometry Group and the Autonomous Systems Lab, the University of Oxford, the Università Degli Studi Di Parma, the Technische Universität Braunschweig, the Volkswagen AG and the Robert Bosch GmbH. A full coverage of the project can be found on the official project webpage.

At the Computer Vision and Geometry Group we addressed the problems of the calibration of the fisheye camera system consisting of 4 monocular fisheye cameras, sparse and dense offline mapping using the fisheye images and online obstacle detection based on the fisheye images.

Videos

V-Charge Feature on Euronews

Calibration

Offline Mapping

Online Mapping

Publications

  • Christian Häne, Torsten Sattler, Marc Pollefeys, Obstacle Detection for Self-Driving Cars Using Only Monocular Cameras and Wheel Odometry, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2015
  • Gim Hee Lee, Bo Li, Marc Pollefeys, Friedrich Fraundorfer, Minimal Solutions for the Multi-Camera Pose Estimation Problem, Int. Journal of Robotics Research (IJRR), 2015
  • Lionel Heng, Paul Furgale, and Marc Pollefeys, Leveraging Image-Based Localization for Infrastructure-Based Calibration of a Multi-Camera Rig, Journal of Field Robotics (JFR), 2015
  • Christian Häne, Lionel Heng, Gim Hee Lee, Alexey Sizov, Marc Pollefeys, Real-Time Direct Dense Matching on Fisheye Images Using Plane-Sweeping Stereo, Proc Int. Conf. on 3D Vison (3DV) 2014 (oral)
  • Gim Hee Lee, Marc Pollefeys, and Friedrich Fraundorfer, Relative Pose Estimation for a Multi-Camera System with Known Vertical Direction, IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), 2014
  • Gim Hee Lee, and Marc Pollefeys, Unsupervised Learning of Threshold for Geometric Verification in Visual-Based Loop-Closure, IEEE Int. Conf. on Robotics and Automation (ICRA), 2014
  • Lionel Heng, Mathias Bürki, Gim Hee Lee, Paul Furgale, Roland Siegwart, and Marc Pollefeys, Infrastructure-Based Calibration of a Multi-Camera Rig, Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2014
  • Gim Hee Lee, Bo Li, Marc Pollefeys, and Friedrich Fraundorfer, Minimal Solutions for Pose Estimation of a Multi-Camera System, Int. Symposium on Robotics Research (ISRR), 2013
  • Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, Structureless Pose-Graph Loop-Closure with a Multi-Camera System on a Self-Driving Car, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2013
  • Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, Robust Pose-Graph Loop-Closures with Expectation-Maximization, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2013
  • Lionel Heng, Bo Li, and Marc Pollefeys, CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2013
  • Gim Hee Lee, Friedrich Fraundorfer, and Marc Pollefeys, Motion Estimation for a Self-Driving Car with a Generalized Camera, IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), 2013
  • Paul Furgale, Ulrich Schwesinger, Martin Rufli, Wojciech Derendarz, Hugo Grimmett, Peter Muhlfellner, Stefan Wonneberger, Bo Li, Bastian Schmidt, Thien Nghia Nguyen, Elena Cardarelli, Stefano Cattani, Stefan Brüning, Sven Horstmann, Martin Stellmacher, Stephan Rottmann, Holger Mielenz, Kevin Köser, Julian Timpner, Markus Beermann, Christian Häne, Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, René Iser, Rudolph Triebel, Ingmar Posner, Paul Newman, Lars Wolf, Marc Pollefeys, Stefan Brosig, Jan Effertz, Cédric Pradalier, and Roland Siegwart, Toward Automated Driving in Cities using Close-to-Market Sensors, an Overview of the V-Charge Project, Proc. IEEE Intelligent Vehicles Symposium (IV) 2013

© CVG, ETH Zürich lm@inf.ethz.ch