Lab Meeting 22 Oct, (Yi-liu): Dynamic 3D Scene Analysis from a Moving Vehicle

Bastian Leibe, Nico Cornelis, Kurt Cornelis, Luc Van Gool

IEEE Conference on Computer Vision and Pattern Recognition 2007 (CVPR'07)

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 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 arriveat accurate 3D localization and trajectory estimatesfor both cars and pedestrians. We demonstrate the performance of our integrated system on challenging real-world data showing car passages through crowded city areas.

Full article: link