Extracting Mobile Objects in Images Using a Velodyne Lidar Point Cloud

  title={Extracting Mobile Objects in Images Using a Velodyne Lidar Point Cloud},
  author={Bruno Vallet and Wen Xiao and Mathieu Br{\'e}dif},
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… CONTINUE READING


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