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°.


    Access

    Download


    Export, share and cite



    Title :

    RECOVERING THE 3D POSE AND SHAPE OF VEHICLES FROM STEREO IMAGES


    Contributors:
    M. Coenen (author) / F. Rottensteiner (author) / C. Heipke (author)


    Publication date :

    2018




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    3D pose estimation of vehicles using a stereo camera

    Barrois, Bjorn / Hristova, Stela / Wohler, Christian et al. | IEEE | 2009


    3D Pose Estimation of Vehicles Using a Stereo Camera

    Barrois, B. / Hristova, S. / Wohler, C. et al. | British Library Conference Proceedings | 2009


    Recovering and tracking pose of curved 3D objects from 2D images

    Chen, J.L. / Stockman, G.C. / Rao, K. | IEEE | 1993


    Recovering shape and motion from undersea images

    Negahdaripour, S. / Yu, C.H. / Shokrollahi, A.H. | Tema Archive | 1990


    Pose Clustering From Stereo Data

    Hillenbrand, Ulrich | German Aerospace Center (DLR) | 2008

    Free access