Motion Estimation from Range Images in Dynamic Outdoor Scenes

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.
Document type :
Conference papers
Complete list of metadatas

https://hal.inria.fr/inria-00562251
Contributor : Thierry Fraichard <>
Submitted on : Wednesday, February 2, 2011 - 11:29:13 PM
Last modification on : Monday, August 19, 2019 - 4:42:03 PM
Long-term archiving on : Tuesday, May 3, 2011 - 3:53:27 AM

File

10-icra-moosmann-fraichard.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00562251, version 1

Collections

Citation

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⟩

Share

Metrics

Record views

271

Files downloads

462