Vehicle Trajectory Estimation from a Video Sequence

INST: L_042This MSc thesis aims to develop a 3D reconstruction pipeline from images of a vehicle-mounted camera to estimate its trajectory. The proposed pipeline includes steps to pre-process the images to better fit the relative pose estimation, the most critical element of the algorithm. The algorithm is performed with planar constraints in mind, to exploit the assumed locally planar nature of the movement. It also produces the 3D reconstruction of the surrounding environment along the route as well