https://arxiv.org/abs/2309.09080 = bird eye view perception
sensor perception bird eye view auto driving car
reagon of interest
lane detection bird eye view
bird eye view transformation
bird eye view transform opencv
homography = np.matmul(Ht,Hr)
warped_img =cv2.warpPerspective(img,homography,(img.shape[1],img.shape[0]),flags=cv2.WARP_INVERSE_MAP)