| Abstract: |  In this work we deal with the problem of 3D reconstruction of a moving object seen by a moving camera. We illustrate reasons of difficulty of the task in the car traffic, which is caused not just by the geometry of the scenario, and we propose methods to solve it. We implement these methods in mathematical software and evaluate the proposed approaches using simulation results. The outputs of methods are fused to improve the results. Finally, we show experimental results based on video-sequences of scenes similar to the real cross-traffic. The task solved is based on the specific needs of automotive industry, as a part of the research project of collision mitigation in cross-traffic scenarios.
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