360° Detection and tracking algorithm of both pedestrian and vehicle using fisheye images

All-around view is a mandatory element for autonomous vehicles. The European V-Charge project seeks to develop an autonomous vehicle using only low-cost sensors. This paper presents a detection and tracking algorithm that covers all the area around the vehicle using 4 fisheye cameras only. The algorithm is able to detect pedestrians and vehicles and track them, using cylindrical images. This paper presents the whole pipeline, from the image un-warping to the classification and the tracking algorithms, together with some results.