Skip to main content
Article thumbnail
Location of Repository

ETH Zurich

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

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 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. 1

Year: 2011
OAI identifier: oai:CiteSeerX.psu:10.1.1.192.4581
Provided by: CiteSeerX
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • http://citeseerx.ist.psu.edu/v... (external link)
  • http://people.ee.ethz.ch/bleib... (external link)
  • Suggested articles


    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.