Moving object reconstruction from 3D segments using a fixed camera

In this paper, we present a method for the reconstruction of 3D segments of a moving object using a fixed camera. We use Pluckerian coordinates to parametrize the lines supporting segments. This representation of lines in the projection space made possible the kinematics description of a line segment with a simple nonlinear state system. The relations linking a 3D segment´s coordinates to its projection onto the retinal plane made it possible to determine the 3D spatial position from dynamic 2D primitives and the object´s motion