Motion Estimation from Range Images in Dynamic Outdoor Scenes - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2010

Motion Estimation from Range Images in Dynamic Outdoor Scenes

Résumé

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.
Fichier principal
Vignette du fichier
10-icra-moosmann-fraichard.pdf (771.31 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

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

Identifiants

  • HAL Id : inria-00562251 , version 1

Citer

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⟩
84 Consultations
563 Téléchargements

Partager

Gmail Facebook X LinkedIn More