Robert T. Collins, Yanghai Tsin, J.Ryan Miller and Alan J. Lipton,
"Using a DEM to Determine Geospatial Object Trajectories,"
Darpa Image Understanding Workshop, Monterey, CA, November 1998.
Also CMU Robotics Institute technical report CMU-RI-TR-98-19, July 1998.
This paper addresses the estimation of moving object trajectories
within a geospatial coordinate system, using a network of video sensors.
A high-resolution (0.5m grid spacing) digital elevation map (DEM)
has been constructed using a helicopter-based laser range-finder.
Object locations are estimated by intersecting viewing rays
from a calibrated sensor platform with the DEM.
Continuous object trajectories can then be assembled from
sequences of single-frame location estimates using
spatio-temporal filtering and domain knowledge.
Click here for
full paper (1029659 bytes, compressed using gzip).