Scene Interpretation Using 3-D Information Extracted From Monocular Color Images

In this paper, we present a method which interprets a monocular color image using three dimensional( 3-D) information extracted dim ing the interpretation process. First, an inpiit im- age is segmented into regions each of which has uniform brightness and color. Then the regions are interpreted utilizing knowledge about objects such as color, size and shape, and candidate re- gions for the objects are determined. For some candidate regions, the 3-D information can be ex- tracted such as position, direction, or size. Once the 3-D information is obtained, it can improve the current result of interpretation and constrains the interpretation for other regions. By iterating this process, the current interpretation result is improved and more accurate one is obtained. As the final result, the interpretation labels for the re- gions in the image and 3-D relationships between the objects are obtained. Experiment for several road scenes has proved the validity of the method.