Scene understanding has (again) become a focus of computer vision research, leveraging advances in detection, context modeling, and tracking. In this paper, we present a novel probabilistic 3D scene model that encompasses multi-class object detection, object tracking, scene labeling, and 3D geometric relations. This integrated 3D model is able to represent complex interactions like inter-object occlusion, physical exclusion between objects, and geometric context, Inference allows to recover 3D scene context and perform 3D multiob-ject tracking from a mobile observer, for objects of multiple categories, using only monocular video as input. In particular, we show that a joint scene track-let model for the evidence collected over multiple frames substantially improves performance. The approach is evaluated for two different types of challenging onboard sequences. We first show a substantial improvement to the state-of-the-art in 3D multi-people tracking. Moreover, a similar performance gain is achieved for multi-class 3D tracking of cars and trucks on a new, challenging dataset.
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