10-04-2017, 09:27 PM
n this seminars, 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. The sole inputs are two video streams from a
calibrated stereo rig on top of a car. From these streams, we estimate
Structure-from-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 space time 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.