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Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow

Hamilton, O.K.; Breckon, T.P.

Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow Thumbnail


Authors

O.K. Hamilton



Abstract

Mapping an ever changing urban environment is a challenging task as we are generally interested in mapping the static scene and not the dynamic objects, such as cars and people. We propose a novel approach to the problem of dynamic object removal within stereo based scene mapping that is both independent of the underlying stereo approach in use and applicable to varying object and camera motion. By leveraging stereo odometry, to recover camera motion in scene space, and stereo disparity, to recover synthesised optic flow over the same pixel space, we isolate regions of inconsistency in depth and image intensity. This allows us to illustrate robust dynamic object removal within the stereo mapping sequence. We show results covering objects with a range of motion dynamics and sizes of those typically observed in an urban environment.

Citation

Hamilton, O., & Breckon, T. (2016). Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow. In Proc. Int. Conf. on Image Processing (3439-3443). https://doi.org/10.1109/ICIP.2016.7532998

Conference Name 2016 IEEE International Conference on Image Processing.
Conference Location Phoenix, AZ, USA
Start Date Sep 25, 2016
End Date Sep 28, 2016
Acceptance Date Jul 12, 2016
Online Publication Date Aug 19, 2016
Publication Date 2016
Deposit Date Oct 3, 2016
Publicly Available Date Oct 3, 2016
Pages 3439-3443
Series ISSN 2381-8549
Book Title Proc. Int. Conf. on Image Processing
DOI https://doi.org/10.1109/ICIP.2016.7532998
Keywords 3D, automotive stereo, optic flow, disparity projection, pedestrain removal, object removal, scene mapping
Public URL https://durham-repository.worktribe.com/output/1149924
Publisher URL https://breckon.org/toby/publications/papers/hamilton16removal.pdf
Related Public URLs http://community.dur.ac.uk/toby.breckon/publications/papers/hamilton16removal.pdf

Files

Accepted Conference Proceeding (2 Mb)
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© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.





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