Automatic Extraction of Moving Objects from Image and LIDAR Sequences

Abstract

Detecting and segmenting moving objects in an image sequence has always been a crucial task for many computer vision applications. This task becomes especially challenging for real-world image sequences of busy street scenes, where moving objects are ubiquitous. Although it remains technologically elusive to develop an effective and scalable image-based moving object detection, modern street side imagery are often augmented with sparse point clouds captured with depth sensors. This paper develops a simple but effective system for moving object detection that fully harnesses the complementary nature of 2D image and 3D LIDAR point clouds. We demonstrate how moving objects can be much more easily and reliably detected with sparse 3D measurements and how such information can significantly improve segmentation for moving objects in the image sequences. The results of our system are highly accurate "joint segmentation" of 2D images and 3D points for all moving objects in street scenes, which can serve many subsequent tasks such as object removal in images, 3D reconstruction and rendering.