Fast 3D Scene Alignment with Stereo Images using a Stixel-based 3D Model

Development and analysis of a real-time system for automated detection of improvised explosive device indicators from ground vehicles

“…Van de Wouw et al 20,21 proposed a 2.5-D registration approach to avoid parallax effects, when aligning images with typical driving-related viewpoint differences. For this purpose, they build a simplified 3-D model of the historical scene, which is transformed to the 3-D coordinate frame of the live camera.…”

“…In this paper, we adopt the 2.5-D registration approach of Van de Wouw et al, 21 although we use a different approach for the change detection and false alarm reduction. We achieve real-time performance of the complete dualcamera change detection system, by introducing a pipelined design and executing the most time-consuming processing tasks on graphical processing units (GPUs).…”

“…Whereas the original method was restricted to the ground surface, this work employs the extended scene modeling described in recent work, 21 which enables the system to render the entire historical scene. This is briefly described in Sec.…”

“…Instead of computing a full model of the 3-D world, we employ a simplified box-diorama model. 21 This model consists of a 3-D triangular mesh of the nonlinear ground surface, where the objects in the scene are superimposed as rectangles, perpendicular to the ground surface. After texture has been projected onto this mesh, it can be transformed to a (future) live camera pose and projected back to a 2-D image, resulting in a registered image [Fig.…”