Volume II-3/W4
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., II-3/W4, 247-253, 2015
https://doi.org/10.5194/isprsannals-II-3-W4-247-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., II-3/W4, 247-253, 2015
https://doi.org/10.5194/isprsannals-II-3-W4-247-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.

  11 Mar 2015

11 Mar 2015

EXTRACTING MOBILE OBJECTS IN IMAGES USING A VELODYNE LIDAR POINT CLOUD

B. Vallet, W. Xiao, and M. Brédif B. Vallet et al.
  • IGN, Laboratoire MATIS, 73 avenue de Paris, 94165 Saint-Mandé, France

Keywords: Tracking, Lidar, Image, Dempster-Shafer, Graph-cuts

Abstract. This paper presents a full pipeline to extract mobile objects in images based on a simultaneous laser acquisition with a Velodyne scanner. The point cloud is first analysed to extract mobile objects in 3D. This is done using Dempster-Shafer theory and it results in weights telling for each points if it corresponds to a mobile object, a fixed object or if no decision can be made based on the data (unknown). These weights are projected in an image acquired simultaneously and used to segment the image between the mobile and the static part of the scene.