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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. Objects are described by means of 3D line segments, and their presence in the scene is associated with the detection of 2D line segments on the image plane. A change detection algorithm is applied to detect moving objects on the image plane and a Hough-based algorithm is used to individuate 2D line segments. 3D parameters of each line segment are estimated, 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 presented.