  Project AutoVision aims to develop localization and 3D scene perception
capabilities for a self-driving vehicle. Such capabilities will enable
autonomous navigation in urban and rural environments, in day and night, and
with cameras as the only exteroceptive sensors. The sensor suite employs many
cameras for both 360-degree coverage and accurate multi-view stereo; the use of
low-cost cameras keeps the cost of this sensor suite to a minimum. In addition,
the project seeks to extend the operating envelope to include GNSS-less
conditions which are typical for environments with tall buildings, foliage, and
tunnels. Emphasis is placed on leveraging multi-view geometry and deep learning
to enable the vehicle to localize and perceive in 3D space. This paper presents
an overview of the project, and describes the sensor suite and current progress
in the areas of calibration, localization, and perception.
