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Object points estimation by ray tracing. Top left: All
points inside a detection area are extracted. Top Right and
bottom: 3D view. 3D points inside the detector area (viewing
cone) are red colored.
After object detection in a 2D projection the algorithm finds the
corresponding 3D points using ray tracing. All 3D points that
have been projected into the classified area are retrieved using
a special OpenGL projection matrix. Fig. (right)
shows a rendering of raytraced 3D points.