Tracking objects in bowl-shaped imaging systems

One or more non-transitory machine-readable storage media comprising a plurality of instructions stored thereon that, in response to execution by a computing device, cause the computing device to:

• identify an object captured in a fisheye image generated by a fisheye camera of the vehicle;
• project a contour of the identified object on a selected virtual plane that is located outside the vehicle and selected from a predefined set of virtual planes based on a location of the identified object relative to the vehicle;
• identify a bottom of the projected contour on the selected virtual plane;
• determine an intersection point of an imaginary line with a ground plane coincident with a plane on which the vehicle is positioned, wherein the imaginary line passes through each of the identified bottom of the projected contour and the fisheye camera;
• and
• determine a location of the identified object relative to the vehicle based on the determined intersection point and the identified bottom of the projected contour.

A method for determining a distance of an object from a vehicle by a computing device of the vehicle, the method comprising:

• identifying, by the computing device, an object captured in a fisheye image generated by a fisheye camera of the vehicle;
• projecting, by the computing device, a contour of the identified object on a selected virtual plane that is located outside the vehicle and selected from a predefined set of virtual planes based on a location of the identified object relative to the vehicle;
• identifying, by the computing device, a bottom of the projected contour on the selected virtual plane;
• determining, by the computing device, an intersection point of an imaginary line with a ground plane coincident with a plane on which the vehicle is positioned, wherein the imaginary line passes through each of the identified bottom of the projected contour and the fisheye camera;
• and
• determining, by the computing device, a location of the identified object relative to the vehicle based on the determined intersection point and the identified bottom of the projected contour.