Integrated real-time motion segmentation and 3D interpretation

This 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.