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2007
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Dynamic 3D Scene Analysis from a Moving Vehicle

12 years 3 months ago
Dynamic 3D Scene Analysis from a Moving Vehicle
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 Structurefrom-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 ou...
Bastian Leibe, Nico Cornelis, Kurt Cornelis, Luc J
Added 12 Oct 2009
Updated 12 Oct 2009
Type Conference
Year 2007
Where CVPR
Authors Bastian Leibe, Nico Cornelis, Kurt Cornelis, Luc J. Van Gool
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