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Motion estimation from range images in dynamic outdoor scenes

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2 Author(s)
Moosmann, F. ; Inst. of Meas. & Control Syst., Karlsruhe Inst. of Technol., Karlsruhe, Germany ; Fraichard, T.

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.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010