Multi-view alignment based on fixed-scale ground plane rectification

摘要

#$%^&*AU2011202555A120121220.pdf#####MULTI-VIEW ALIGNMENT BASED ON FIXED-SCALE GROUND PLANE RECTIFICATION Abstract Disclosed herein are a system and method of generating a common ground plane from a plurality of image sequences. Each image sequence (1400 - 1420, 1460 - 1470) is captured by a corresponding one of a plurality of cameras (1100, 1101), wherein the plurality of cameras (1100, 1101) have disjoint fields of view of a scene. The method 5 detects at least three observations (1405, 1415, 1425, 146, 1466, 1471) for each image sequence (1400 - 1420, 1460 - 1470). Each observation is a detected object. The method determines a scene geometry for each camera (1100, 1101), based on the detected observations in the image sequence corresponding to the camera. The method determines a spatial property of each camera, based on the scene geometry for each respective camera. 10 The method rectifies (340, 390) each of the image sequences to generate a plurality of rectified ground planes. The method determines a statistical property of the plurality of observations in the plurality of image sequences and determines (350) relative scaling factors of a common ground plane relative to each of the plurality of rectified ground planes. The method then generates the common ground plane from the plurality of image is sequences, based on the rectified ground planes and the determined relative scaling factors. 5182696 IDOC IRN: 983787- 1/18 102 Sta rt 100 105 Moving object detection 110 Tracking moving objects in each FOV Finding tracking 120 correspondences 130 160 Multiview alignment Object depth estimation 140 2D track construction 150 3D track construction i 190 End Fig. 1 5182390_1.vSD