Visual Reconstruction of an Intersection by Integrating Cameras on Multiple Vehicles

We present to generate a bird’s-eye view of road traffic scene by integrating multiple images from in-vehicle cameras for supporting traffic safety. There are many blind spots at an intersection. Such blind spots will cause accidents and traffic jams. If it is possible to obtain views from multiple vehicles coming into one intersection from different directions, we can generate a bird's-eye view by integrating the images seen from each vehicle. We integrate these images projected to ground plane and reproduce the intersection virtually. Here we assume that geometry of the scene, camera intrinsic parameters and camera extrinsic parameters relative to car body are known. We estimate the orientation of each vehicle with vanishing points in the image, and the 3D position of the foreground in the image with view volume intersection. We reproduce the intersection with such information.