Toward the Ghosting Phenomenon in a Stereo-Based Map With a Collaborative RGB-D Repair

Although 3-D reconstruction of dynamic road environment by moving cameras has been broadly applied in recognition and navigation systems, this task is still considered challenging, especially under circumstances with moving objects, where the reconstruction precision is strongly harassed by the ghosting problem. To address this issue, in this paper, we propose a novel approach for reconstructing 3-D maps of complete static scenes, based on a combination of an elaborately designed moving-object filtering mechanism and a map repairing and blank refilling procedure, where both plausible color and depth information from stereo image pairs are utilized. In this approach, first, we employ the planarity knowledge into the initial depth map based on the simple linear iterative cluster (SLIC) superpixel segmentation. The dynamic area in the image is determined under the supervision of odometry calculation. After wiping off moving objects, by collaboratively repairing color and depth information, the final 3-D map containing only static scene is obtained. The experimental results on extensive challenging real-world scenarios demonstrate the effectiveness and robustness of our approach.