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...

• Type: Conference
• Year: 2007
• Where: CVPR
• Authors: Bastian Leibe, Nico Cornelis, Kurt Cornelis, Luc J. Van Gool
• Keywords: Accurate 3d Localization, Computer Vision, CVPR 2007, Dynamic Scene Interpretation, Plausible Spacetime Trajectories, Scene Geometry Estimation, Trajectory Estimation