3D Road Scene Monitoring Based on Real-Time Panorama

Abstract

Road monitoring helps to control the regional traffic situation so as to adjust the traffic flow. Real-time panorama is conducive to timely treat traffic accidents and to greatly improve traffic capacity. This paper designs a 3D road scene monitoring framework based on real-time panorama. The system is the combination of large scale panorama, satellite map textures, and 3D scene model, in which users can ramble freely. This paper has the following contributions. Firstly, land-points were extracted followed by motion detection, then comotion algorithm was applied to land-points from adjacent cameras, and homography matrix was constructed. Secondly, reference camera was chosen and transformed to overhead viewpoint; subsequently multiviews were morphed to the same viewpoint and stitched to panorama. Finally, the registration based on high-precision GPS information between 2D road panorama and 3D scene model was also proposed. The proposed framework has been successfully applied to a large road intersection monitoring. Experimental results are furnished at the end of the paper.