Figure 3
From: Real-time reliability measure-driven multi-hypothesis tracking using 2D and 3D features
Example of a parallelepiped representation of an object. The figure depicts a vehicle enclosed by a 2D bounding box (coloured in red) and also by the parallelepiped representation. The base of the parallelepiped is coloured in blue and the lines projected in height are coloured in green. Note that the orientation α corresponds to the angle between the length dimension l of the parallelepiped and the x axis of the 3D referential of the scene.