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Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset Open Access

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 therein, 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 motion relative to scene depth and camera motion. By leveraging both stereo odometry to recover camera motion in scene space and our stereo disparity to recover synthesised optic flow over the same in pixel space we isolate regions of inconsistency in depth an 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 using this evaluation dataset. Used in the paper: Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow (O.K. Hamilton, T.P. Breckon), In Proc. International Conference on Image Processing, IEEE, 2016.

Descriptions

Resource type
Dataset
Contributors
Creator: Hamilton, O.K. 1
Creator: Breckon, Toby P. 1
Contact person: Breckon, Toby P. 1
1 Durham University, UK
Funder
Engineering and Physical Sciences Research Council
Research methods
Other description
Keyword
computer vision
image processing
3D
object removal
scene mapping
automotive vision
stereo vision
Subject
Engineering
Computer Science
Location
Durham, England, United Kingdom
Language
England
Cited in
Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow (O.K. Hamilton, T.P. Breckon), In Proc. International Conference on Image Processing, IEEE, 2016.
Identifier
doi:10.15128/1544bp08d
ark:/32150/1544bp08d
Rights
All rights reserved All rights reserved
Publisher
Durham University
Date Created
2016

File Details

Depositor
T. Breckon
Date Uploaded
Date Modified
17 May 2016, 14:05:39
Audit Status
Audits have not yet been run on this file.
Characterization
File format: zip (ZIP Format)
Mime type: application/zip
File size: 176995960
Last modified: 2016:05:17 13:52:09+01:00
Filename: MovingObjectDataSet-Hamilton-Breckon-2016.zip
Original checksum: dd345967cd96a33f81c43ca284e4d08e
Activity of users you follow
User Activity Date
User O. Hamilton has added a new version of Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User S. Palucha has updated Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User S. Palucha has updated Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User S. Palucha has updated Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User S. Palucha has updated Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User S. Palucha has updated Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User S. Palucha has updated Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User T. Breckon has updated Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User T. Breckon has updated Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User T. Breckon has updated Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User T. Breckon has updated Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User T. Breckon has updated Generalized Dynamic Object Removal for Dense Stereo Vision Based Scene Mapping using Synthesised Optical Flow - Evaluation Dataset almost 3 years ago
User T. Breckon has deposited MovingObjectDataSet.rar almost 3 years ago