CLOSED-FORM ALGORITHMS FOR OBJECT POSE AND SCALE RECOVERY IN CONSTRAINED SCENES

This paper concerns the recovery of pose and scale of vehicles in traf fic scenes which, under normal conditions, are constrained to be in co ntact with the ground-plane. Several closed-form algorithms are descri bed for pose and scale recovery using known 2D-to-3D line matches. The algorithms directly exploit the ground-plane constraint and are appli cable to an arbitrary number of line matches. The algorithms are teste d extensively with both synthetic and real outdoor traffic images. The y are found to be robust and perform satisfactorily with real images.