Dynamic 3D Scene Analysis from a Moving Vehicle
- 1 June 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 10 (10636919) , 1-8
- https://doi.org/10.1109/cvpr.2007.383146
Abstract
In this paper, we present a system that integrates fully automatic scene geometry estimation, 2D object detection, 3D localization, trajectory estimation, and tracking for dynamic scene interpretation from a moving vehicle. Our sole input are two video streams from a calibrated stereo rig on top of a car. From these streams, we estimate structure-from-motion (SfM) and scene geometry in real-time. In parallel, we perform multi-view/multi-category object recognition to detect cars and pedestrians in both camera images. Using the SfM self-localization, 2D object detections are converted to 3D observations, which are accumulated in a world coordinate frame. A subsequent tracking module analyzes the resulting 3D observations to find physically plausible spacetime trajectories. Finally, a global optimization criterion takes object-object interactions into account to arrive at accurate 3D localization and trajectory estimates for both cars and pedestrians. We demonstrate the performance of our integrated system on challenging real-world data showing car passages through crowded city areas.Keywords
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