ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2, 73-80, 2018
https://doi.org/10.5194/isprs-annals-IV-2-73-2018
© Author(s) 2018. This work is distributed under
the Creative Commons Attribution 4.0 License.
 
28 May 2018
RECOVERING THE 3D POSE AND SHAPE OF VEHICLES FROM STEREO IMAGES
M. Coenen, F. Rottensteiner, and C. Heipke Institute of Photogrammetry and GeoInformation, Leibniz Universit¨at Hannover, Germany
Keywords: Object Detection, Stereo Images, Pose Estimation, 3D Reconstruction, 3D Modelling, Active Shape Model Abstract. The precise reconstruction and pose estimation of vehicles plays an important role, e.g. for autonomous driving. We tackle this problem on the basis of street level stereo images obtained from a moving vehicle. Starting from initial vehicle detections, we use a deformable vehicle shape prior learned from CAD vehicle data to fully reconstruct the vehicles in 3D and to recover their 3D pose and shape. To fit a deformable vehicle model to each detection by inferring the optimal parameters for pose and shape, we define an energy function leveraging reconstructed 3D data, image information, the vehicle model and derived scene knowledge. To minimise the energy function, we apply a robust model fitting procedure based on iterative Monte Carlo model particle sampling. We evaluate our approach using the object detection and orientation estimation benchmark of the KITTI dataset (Geiger et al., 2012). Our approach can deal with very coarse pose initialisations and we achieve encouraging results with up to 82 % correct pose estimations. Moreover, we are able to deliver very precise orientation estimation results with an average absolute error smaller than 4°.
Conference paper (PDF, 8028 KB)

Citation: Coenen, M., Rottensteiner, F., and Heipke, C.: RECOVERING THE 3D POSE AND SHAPE OF VEHICLES FROM STEREO IMAGES, ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., IV-2, 73-80, https://doi.org/10.5194/isprs-annals-IV-2-73-2018, 2018.

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