Model-based multiple-sensor dynamic scene interpretation
Robert J. Schalkoff, Xiaoming Wang · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1992
A model-based method is developed with the overall objective of estimating multiple object motion in 3-D from one or more image sequences. Object 3-D positions and orientations are obtained by recognition of 3-D objects from an object library and determining object viewpoints for each image frame. There are two stages in the viewpoint determination. First, the relational structures in an edge line image are matched with the relational structures in 2-D projections of 3-D model lines to select candidate object models and associated viewpoints from the model library. In the second stage, the selected object model is verified using a viewpoint consistency constraints. Thereafter, motion information may be derived. Stereo sensors, where available, provide additional and redundant information. A comprehensive example is shown.