Estimate 2d image point to 3d real coordinate (no depth).

I have a video recorded by a drone (DJI phantom 4 pro v2). The **drone was stationary and at 100 meters** height while recording. Then I used YOLO+DeepSort to detect and track the cars. Now I want to estimate the speed of the vehicles. To do this I need to extract the real car coordinates from the image, except the depth obviously. I have my intrinsics matrix that I built extracting the camera specs of the drone. Now I need …

2d image 3d computervision image