Content-based dynamic 3d mosaics

We propose a content-based 3D mosaic (CB3M) representation for long video sequences of 3D and dynamic scenes captured by a camera on a mobile platform. After a set of parallel-perspective (pushbroom) mosaics with varying viewing directions is generated, a multi-view, segmentation-based stereo matching algorithm is applied to extract parametric representations of the color, structure and motion of the dynamic and/or 3D objects in urban scenes. We use the fact that all the static objects obey the epipolar geometry of pushbroom stereo, whereas an independent moving object either violates the epipolar geometry if the motion is not in the direction of sensor motion or exhibits unusual 3D structures. The CB3M is a highly compressed visual representation for a very long video sequence of a dynamic 3D scene. More importantly, the CB3M representation has object contents of both 3D and motion. Experimental results are given for the CB3M construction for both simulated and real video sequences. 1