Object Points Estimation

Figure: Object points estimation by ray tracing. Top left: All points inside a detection area are extracted. Top Right and bottom: 3D view. 3D points inside the detector area (viewing cone) are red colored.

After object detection in a 2D projection the algorithm finds the corresponding 3D points using ray tracing. All 3D points that have been projected into the classified area are retrieved using a special OpenGL projection matrix. Fig. (right) shows a rendering of raytraced 3D points.