An integrated approach to 3D motion analysis and object recognition

摘要

An integrated system for 3D motion estimation and object recognition with outdoor stereo image sequences as inputs is presented. The goals are to obtain from input stereo images the 3D motion description and the identification of a vehicle moving against a stationary background. In order to accomplish the desired goals, the system consists of four stages; motion estimation, distinctive feature extraction, model database, and object recognition. The results of 3D motion estimation are used to narrow down considerably the search space in the stage of object recognition. The system is applied to eight sets of stereo image pairs. Experimental results demonstrate that the system can successfully provide the 3D motion description and the identification of the vehicle in all the stereo image pairs.