  Modern driver assistance systems rely on a wide range of sensors (RADAR,
LIDAR, ultrasound and cameras) for scene understanding and prediction. These
sensors are typically used for detecting traffic participants and scene
elements required for navigation. In this paper we argue that relying on camera
based systems, specifically Around View Monitoring (AVM) system has great
potential to achieve these goals in both parking and driving modes with
decreased costs. The contributions of this paper are as follows: we present a
new end-to-end solution for delimiting the safe drivable area for each frame by
means of identifying the closest obstacle in each direction from the driving
vehicle, we use this approach to calculate the distance to the nearest
obstacles and we incorporate it into a unified end-to-end architecture capable
of joint object detection, curb detection and safe drivable area detection.
Furthermore, we describe the family of networks for both a high accuracy
solution and a low complexity solution. We also introduce further augmentation
of the base architecture with 3D object detection.
