A LINE SEGMENT-BASED APPROACH FOR 3D MOTION ESTIMATION AND TRACKING OF MULTIPLE OBJECTS

A line segment based approach for 3D motion estimation and tracking of multiple objects from a monocular image sequence is presented. Object s are described by means of 3D line segments, and their presence in th e scene is associated with the detection of 2D line segments on the im age plane. A change detection algorithm is applied to detect moving ob jects on the image plane and a Hough-based algorithm is used to indivi duate 2D line segments. 3D parameters of each line segment are estimat ed, at each time instant, by means of an extended Kalman filter (EKF), whose observations are the displacements of 2D line segment endpoints on the image plane. Results on both synthetic and real scenes are pre sented.