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Conference Papers Year : 2010

Motion Estimation from Range Images in Dynamic Outdoor Scenes

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Abstract

Object-class independent motion estimation from range data is a challenging task. We present here a novel approach that is able to derive a dense motion field based on range images only. We propose to first segment the range image into segments using a recently proposed segmentation criterion. Motion is then estimated segment-wise with full 6 degrees of freedom. To that end, we introduce dynamic mapping, i.e. the accumulation of measurements for moving objects. We show experimentally that the approach is able to deliver a dense motion field which can then be used for object-class independent trajectory estimation.
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Dates and versions

inria-00562251 , version 1 (02-02-2011)

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  • HAL Id : inria-00562251 , version 1

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Franck Moosmann, Thierry Fraichard. Motion Estimation from Range Images in Dynamic Outdoor Scenes. IEEE Int. Conf. on Robotics and Automation, May 2010, Anchorage, United States. ⟨inria-00562251⟩
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