Search results for "Motion Segmentation"
showing 3 items of 3 documents
Dynamic 3D Scene Reconstruction and Enhancement
2017
International audience; In this paper, we present a 3D reconstruction and enhancement approach for high quality dynamic city scene reconstructions. We first detect and segment the moving objects using 3D Motion Segmenta-tion approach by exploiting the feature trajectories' behaviours. Getting the segmentations of both the dynamic scene parts and the static scene parts, we propose an efficient point cloud registration approach which takes the advantages of 3-point RANSAC and Iterative Closest Points algorithms to produce precise point cloud alignment. Furthermore, we proposed a point cloud smoothing and texture mapping framework to enhance the results of reconstructions for both the static a…
Incomplete 3D motion trajectory segmentation and 2D-to-3D label transfer for dynamic scene analysis
2017
International audience; The knowledge of the static scene parts and the moving objects in a dynamic scene plays a vital role for scene modelling, understanding, and landmark-based robot navigation. The key information for these tasks lies on semantic labels of the scene parts and the motion trajectories of the dynamic objects. In this work, we propose a method that segments the 3D feature trajectories based on their motion behaviours, and assigns them semantic labels using 2D-to-3D label transfer. These feature trajectories are constructed by using the proposed trajectory recovery algorithm which takes the loss of feature tracking into account. We introduce a complete framework for static-m…
Motion Analysis for Dynamic 3D Scene Reconstruction and Understanding
2017
This thesis studies the problem of dynamic scene 3D reconstruction and understanding using a calibrated 2D-3D camera setup mounted on a mobile platform via the analysis of objects' motions. For static scenes, the sought 3D map reconstruction can be obtained by registering the point cloud sequence. However, with dynamic scenes, we require a prior step of moving object elimination, which yields to the motion detection and segmentation problems. We provide solutions for the two practical scenarios, namely the known and unknown camera motion cases, respectively. When camera motion is unknown, our 3D-SSC and 3D-SMR algorithms segment the moving objects by analysing their 3D feature trajectories.…