Toward Moving Objects Detection in 3D-Lidar and Camera Data

Clement Deymier, Thierry Chateau

2014

Abstract

In this paper, we propose a major improvement of an algorithm named IPCC (Clement Deymier, 2013a) for Iterative Photo Consistency-Check. His goal is to detect a posteriori moving objects in both camera and rangefinder data. The range data may be provided by different sensors such as: Velodyne, Riegl or Kinect with no distinction. The main idea is to consider that range data acquired on static objects are photo-consistent, they have the same color and texture in all the camera images, but range data acquired on moving object are not photo-consistent. The central matter is to take into account that range sensor and camera are not synchronous, so what is seen in camera is not what range sensors acquire. This work propose to estimate photo-consistency of range data by using his 3D neighborhood as a texture descriptor wich is a major improvement of the original method based on texture patches. A Gaussian mixture method has been developed to deal with occluded background. Moreover, we will see how to remove non photo-consistent range data from the scene by an erosion process and how to repair images by inpainting. Finally, experiments will show the relevance of the proposed method in terms of both accuracy and computation time.

Paper Citation

in Harvard Style

Deymier C. and Chateau T. (2014). Toward Moving Objects Detection in 3D-Lidar and Camera Data . In Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: USA, (ICPRAM 2014) ISBN 978-989-758-018-5, pages 809-816. DOI: 10.5220/0004928608090816

in Bibtex Style

@conference{usa14,
author={Clement Deymier and Thierry Chateau},
title={Toward Moving Objects Detection in 3D-Lidar and Camera Data},
booktitle={Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: USA, (ICPRAM 2014)},
year={2014},
pages={809-816},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004928608090816},
isbn={978-989-758-018-5},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: USA, (ICPRAM 2014)
TI - Toward Moving Objects Detection in 3D-Lidar and Camera Data
SN - 978-989-758-018-5
AU - Deymier C.
AU - Chateau T.
PY - 2014
SP - 809
EP - 816
DO - 10.5220/0004928608090816