People consistent labeling between uncalibrated cameras without planar ground assumption

People consistent labeling across multiple cameras in the scene with multiple planes ground is a challenging task. We propose a simple but effective method to cope with it. In our method, camera calibration is not needed, the scene is not constrained to a planar ground and the cameras can be set at any oblique angles. The homography induced by the plane at a certain height parallel to the lowest groune plane is adaptively obtained by using geometric constraints between two overlapping views. PCA axis of each individual is determined to perform the consistent labeling using the adaptive homography. Experimental results from outdoor environments show that our proposed method can correctly perform the consistent labeling and is more accurate and effective than Hu's method when the scene consists of multiple planes ground and the cameras are set at oblique angles.