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Generalized dynamic object removal for dense stereo vision based scene mapping using synthesised optical flow
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 indepe...
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| creator | Hamilton, Oliver K. Breckon, Toby P. |
| description | 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. |
| doi_str_mv | 10.1109/ICIP.2016.7532998 |
| format | conference_proceeding |
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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.</description><subject>Cameras</subject><subject>Disparity</subject><subject>Dynamics</subject><subject>Image reconstruction</subject><subject>Object Removal</subject><subject>Optical imaging</subject><subject>Stereo Vision</subject><subject>Three-dimensional displays</subject><subject>Two dimensional displays</subject><subject>Vehicle dynamics</subject><issn>2381-8549</issn><isbn>9781467399616</isbn><isbn>1467399612</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2016</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNotkEtOwzAYhA0SEqX0AIiNL5DgR_xaoghKpUqwgHVlx3_AVRJHcSgKpycR3cwsZuZbDEJ3lOSUEvOwK3dvOSNU5kpwZoy-QBujNC2k4sZIKi_RinFNMy0Kc41uUjoSMvc5XaF2Cx0Mtgm_4LGfOtuGCkd3hGrEA7TxZBtcxwF76BLgNMIAEZ9CCrHDzqZ5lKqZgFvb96H7xN9p0TR14xeksOSxH0O1UJr4c4uuatsk2Jx9jT6en97Ll2z_ut2Vj_ssMKrHTCrPpKe-8rYyThXOeW6JVcwxr5XQSjJKZS2MI5rVTgghndFuDojm4CVfo_t_bgCAQz-E1g7T4fwO_wNiXFsM</recordid><startdate>201609</startdate><enddate>201609</enddate><creator>Hamilton, Oliver K.</creator><creator>Breckon, Toby P.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201609</creationdate><title>Generalized dynamic object removal for dense stereo vision based scene mapping using synthesised optical flow</title><author>Hamilton, Oliver K. ; Breckon, Toby P.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i218t-67d26d1dcdac9b74bbd3a0a72b2d8758762116f59b082fb5556b98b587083ed63</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2016</creationdate><topic>Cameras</topic><topic>Disparity</topic><topic>Dynamics</topic><topic>Image reconstruction</topic><topic>Object Removal</topic><topic>Optical imaging</topic><topic>Stereo Vision</topic><topic>Three-dimensional displays</topic><topic>Two dimensional displays</topic><topic>Vehicle dynamics</topic><toplevel>online_resources</toplevel><creatorcontrib>Hamilton, Oliver K.</creatorcontrib><creatorcontrib>Breckon, Toby P.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEL</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Hamilton, Oliver K.</au><au>Breckon, Toby P.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Generalized dynamic object removal for dense stereo vision based scene mapping using synthesised optical flow</atitle><btitle>2016 IEEE International Conference on Image Processing (ICIP)</btitle><stitle>ICIP</stitle><date>2016-09</date><risdate>2016</risdate><spage>3439</spage><epage>3443</epage><pages>3439-3443</pages><eissn>2381-8549</eissn><eisbn>9781467399616</eisbn><eisbn>1467399612</eisbn><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.</abstract><pub>IEEE</pub><doi>10.1109/ICIP.2016.7532998</doi><tpages>5</tpages><oa>free_for_read</oa></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | EISSN: 2381-8549 |
| ispartof | 2016 IEEE International Conference on Image Processing (ICIP), 2016, p.3439-3443 |
| issn | 2381-8549 |
| language | eng |
| recordid | cdi_ieee_primary_7532998 |
| source | IEEE Xplore All Conference Series |
| subjects | Cameras Disparity Dynamics Image reconstruction Object Removal Optical imaging Stereo Vision Three-dimensional displays Two dimensional displays Vehicle dynamics |
| title | Generalized dynamic object removal for dense stereo vision based scene mapping using synthesised optical flow |
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