Fast Object Motion Estimation Based on Dynamic Stixels

. 2016 Jul 28;16(8):1182. doi: 10.3390/s16081182

Algorithm 1 Clustering algorithm.

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function CLUSTERING( $Q {t}$ )
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$O \leftarrow \emptyset$
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$o \leftarrow \emptyset$
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for each stixel $q_{i} \in Q$ , from left to right do
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if $| d e p t h (q_{i}) - d e p t h (q_{i - 1}) | > τ_{d e p t h_d i s t}$ then
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if $w i d t h (o) > τ_{m i n_w i d t h}$ then
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$o \leftarrow \emptyset$
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end if
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end if
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$o \leftarrow o \cup q_{i}$
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end for
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end function