Integrated Real-Time Motion Segmentation and 3D Interpretation
DRA Technical Report TR96SMS1

(A slightly different version of this has now been published in ICPR96 [7])

S.M. Smith

Oxford Centre for Functional Magnetic Resonance Imaging of the Brain (FMRIB),
Department of Clinical Neurology, Oxford University, Oxford, UK
(Previously in Computer Vision and Image Processing Group, DRA Chertsey, DERA, UK)
steve@fmrib.ox.ac.uk
www.fmrib.ox.ac.uk/~ steve

Abstract This brief paper describes a real-time integrated motion segmentation and 3D reconstruction/ interpretation system. The motion segmentation system detects and tracks all moving objects, and removes the corresponding features from the original 2D feature data set. The remaining features are passed on to a 3D reconstruction system. The resulting list of 3D feature data, which hopefully contains useful information about the static part of the world, is then interpreted to give some high level understanding of the environment.

Keywords: Obstacle detection, motion segmentation, 3D reconstruction

© British Crown Copyright 1996, Defence Research Agency, Farnborough, Hampshire GU14 6TD, UK

• Introduction
• ASSET-2 - Moving Obstacle Detection and Tracking
• ALTRUISM - 3D Road Scene Interpretation
• Integration of ASSET-2 and DROID-ALTRUISM
• Conclusions
• References