Estimating 3D-trajectories from Monocular Video Sequences

University essay from KTH/Skolan för datavetenskap och kommunikation (CSC)

Abstract: Tracking a moving object and reconstructing its trajectory can be done with a stereo camera system, since the two cameras enable depth vision. However, such a system would not work if one of the cameras fails to detect the object. If that happens, it would be beneficial if the system could still use the functioning camera to make an approximate trajectory reconstruction. In this study, I have investigated how past observations from a stereo system can be used to recreate trajectories when video from only one of the cameras is available. Several approaches have been implemented and tested, with varying results. The best method was found to be a nearest neighbors-search optimized by a Kalman filter. On a test set with 10000 golf shots, the algorithm was able to create estimations which on average differed around 3.5 meters from the correct trajectory, with better results for trajec-tories originating close to the camera.

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