3D reconstruction of partially unobserved trajectory

3D RECONSTRUCTION OF PARTIALLY UNOBSERVED TRAJECTORY 5 Disclosed is a method of determining an unobserved 3D trajectory of an object from at least two observed trajectories of the object in a scene. The observed trajectories are captured in a series of images by at least one camera, each of the images in the series being associated with a pose of the camera. The method selects first and second points of the object from separate parallel planes of the scene, and determines, from the series 10 of captured images, a first set of 2D capture locations corresponding to the first point and a second set of 2D capture locations corresponding to the second point. The method reconstructs, relative to the pose of the camera, the first and second sets of 2D capture locations in the scene to determine a first approximated 3D trajectory from the first set of 2D capture locations in the scene and a second approximated 3D trajectory 15 from the second set of 2D capture locations in the scene. The unobserved 3D trajectory of the object is then determined based on the first and second approximated 3D trajectories. P015719_specijodged Start 202 Point pair 205 selection I - - -23-2 - - - - - - - - - - - - - - - - -I 212 210222 220 Point pair detection Point pair detection (the second thefirst observed . .observed trajectory trajectory in the FOV) intheFOV) Point pair Point pair | | tracking in I tracking in : FOV FOV | 2D trajectory correspondence establishment calibration Fig. 2A PA1l5r71A finq Indoneli 3D trajectory reconstruction Yes Is confidence measure higher than pre defined threshold? No Unobserved trajectory determination -- -- 255 Bundle adjustment L -I End Fig. 2B P015719 fias lodaed