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Moving object detection and segmentation in urban environments from a moving platform

Zhou, dingfu; Frémont, Vincent; Quost, Benjamin; Dai, Yuchao; Li, Hongdong


This paper proposes an effective approach to detect and segment moving objects from two time-consecutive stereo frames, which leverages the uncertainties in camera motion estimation and in disparity computation. First, the relative camera motion and its uncertainty are computed by tracking and matching sparse features in four images. Then, the motion likelihood at each pixel is estimated by taking into account the ego-motion uncertainty and disparity in computation procedure. Finally, the...[Show more]

CollectionsANU Research Publications
Date published: 2017
Type: Journal article
Source: Image and Vision Computing
DOI: 10.1016/j.imavis.2017.07.006
Access Rights: Open Access


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