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Mobile Mapping of Vertical Traffic Infrastructure

In this paper, we present a method for detection and localization of vertical traffic infrastructure using video sequences recorded by a survey vehicle. Search for polelike structures in the images creates initial 2D hypotheses. They are fused on the groundplane to form 3D hypotheses which are finally verified and classified by search for the distinguished part of the infrastructure. Each step is followed by pruning the set of hypotheses using SVM classifier. The method was tested in a streetlight detection application with video sequences containing over one thousand streetlights.