Real-time visual perception : detection and localisation of static and moving objects from a moving stereo rig

International audienceWe present a novel method for scene reconstruction and moving object detection and tracking, using extensive point tracking (typically more than 4000 points per frame) over time. Current neighbourhood is reconstructed in the form of a 3D point cloud, which allows for extra features (ground detection, path planning, obstacle detection). Reconstruction framework takes moving objects into account, and tracking over time allows for trajectory and speed estimation