NDLI: 3D Reconstruction of Background and Objects Moving on Ground Plane Viewed from a Moving Camera

Content Provider	IEEE Xplore Digital Library
Author	Chang Yuan Medioni, G.
Copyright Year	2006
Description	Author affiliation: UCLA (Chang Yuan)
Abstract	We present a novel method to obtain a 3D Euclidean reconstruction of both the background and moving objects in a video sequence. We assume that, multiple objects are moving rigidly on a ground plane observed by a moving camera. The video sequence is first segmented into static background and motion blobs by a homography-based motion segmentation method. Then classical "Structure from Motion" (SfM) techniques are applied to obtain a Euclidean reconstruction of the static background. The motion blob corresponding to each moving object is treated as if there were a static object observed by a hypothetical moving camera, called a "virtual camera". This virtual camera shares the same intrinsic parameters with the real camera but moves differently due to object motion. The same SfM techniques are applied to estimate the 3D shape of each moving object and the pose of the virtual camera. We show that the unknown scale of moving objects can be approximately determined by the ground plane, which is a key contribution of this paper. Another key contribution is that we prove that the 3D motion of moving objects can be solved from the virtual camera motion with a linear constraint imposed on the object translation. In our approach, a planartranslation constraint is formulated: "the 3D instantaneous translation of moving objects must be parallel to the ground plane". Results on real-world video sequences demonstrate the effectiveness and robustness of our approach.
Starting Page	2261
Ending Page	2268
File Size	424292
Page Count	8
File Format	PDF
ISBN	0769525970
ISSN	10636919
DOI	10.1109/CVPR.2006.16
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer vision Image reconstruction Video sequences Motion segmentation Shape Robot vision systems Intelligent robots Motion estimation Smart cameras Intelligent systems
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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