Reconstructing vehicles from a single image: Shape priors for road scene understanding

@article{Murthy2017ReconstructingVF,
  title={Reconstructing vehicles from a single image: Shape priors for road scene understanding},
  author={J. Krishna Murthy and G. V. Sai Krishna and Falak Chhaya and K. Madhava Krishna},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={724-731}
}
We present an approach for reconstructing vehicles from a single (RGB) image, in the context of autonomous driving. Though the problem appears to be ill-posed, we demonstrate that prior knowledge about how 3D shapes of vehicles project to an image can be used to reason about the reverse process, i.e., how shapes (back-)project from 2D to 3D. We encode this knowledge in shape priors, which are learnt over a small keypoint-annotated dataset. We then formulate a shape-aware adjustment problem that… CONTINUE READING
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