3D Point Tracking in an Outdoor Environment

The video shows the results of tracking 3D points with a stereo camera in an outdoor sequence. The user walks a crowded bridge. The circles show the tracked features. The vectors show the predicted 3D position of the corresponding 3D point in 0.5 seconds (back projected to the image). The color encodes the distance, where red is close, yellow middle distance, and green far away. Observe that the sequence is very challenging containing multiple moving objects moving in both directions of the bridge.

See also the corresponding 3D reconstruction.

H. Badino and T. Kanade:
"A Head-Wearable Short-Baseline Stereo System for the Simultaneous Estimation of Structure and Motion".
IAPR Conference on Machine Vision Applications (MVA), Nara, Japan, June 2011.

Hernan Badino
Carnegie Mellon University

http://www.lelaps.de/research/

Category:

Science & Technology

Tags:

• tracking
• stereo
• motion
• sfm
• 3d reconstruction
• slam