Closed-form algorithms for object pose and scale recovery in constrained scenes

This paper concerns the recovery of pose and scale of vehicles in traffic scenes which, under normal conditions, are constrained to be in contact with the ground-plane. Several closed-form algorithms are described for pose and scale recovery using known 2D-to-3D line matches. The algorithms directly exploit the ground-plane constraint and are applicable to an arbitrary number of line matches. The algorithms are tested extensively with both synthetic and real outdoor traffic images. They are found to be robust and perform satisfactorily with real images.

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