2023/07/14 by Oscar Carlsson, Carlsson, Oscar, Jan E. Gerken +11 · 4 citations
Computer Science · #Advanced Image and Video Retrieval Techniques #Advanced Neural Network Applications #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Medical Image Segmentation Techniques
paper · pdf · doi:10.48550/arxiv.2307.07313
openalex publication_date 2023/07/14 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
High-resolution wide-angle fisheye images are becoming more and more important for robotics applications such as autonomous driving. However, using ordinary convolutional neural networks or vision transformers on this data is problematic due to projection and distortion losses introduced when projecting to a rectangular grid on the plane. We introduce the HEAL-SWIN transformer, which combines the highly uniform Hierarchical Equal Area iso-Latitude Pixelation (HEALPix) grid used in astrophysics and cosmology with the Hierarchical Shifted-Window (SWIN) transformer to yield an efficient and flexible model capable of training on high-resolution, distortion-free spherical data. In HEAL-SWIN, the nested structure of the HEALPix grid is used to perform the patching and windowing operations of the SWIN transformer, enabling the network to process spherical representations with minimal computational overhead. We demonstrate the superior performance of our model on both synthetic and real automotive datasets, as well as a selection of other image datasets, for semantic segmentation, depth regression and classification tasks. Our code is publicly available at https://github.com/JanEGerken/HEAL-SWIN.