US Patent 9805505 Estimation of object properties in 3D world

Objects within two-dimensional video data are modeled by three-dimensional models as a function of object type and motion through manually calibrating a two-dimensional image to the three spatial dimensions of a three-dimensional modeling cube. Calibrated three-dimensional locations of an object in motion in the two-dimensional image field of view of a video data input are determined and used to determine a heading direction of the object as a function of the camera calibration and determined movement between the determined three-dimensional locations. The two-dimensional object image is replaced in the video data input with an object-type three-dimensional polygonal model having a projected bounding box that best matches a bounding box of an image blob, the model oriented in the determined heading direction. The bounding box of the replacing model is then scaled to fit the object image blob bounding box, and rendered with extracted image features.