Fast Object Motion Estimation Based on Dynamic Stixels

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

Algorithm 2 Aggregation algorithm.

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function AGGREGATION( $O$ )
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$O^{'} \leftarrow \emptyset$
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$o^{'} \leftarrow \emptyset$
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for each object $o_{i} \in O$ , from left to right do
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if $| X (o_{i}) - X (o_{i - 1}) | > τ_{l a t e r a l_a g g r e g a t i o n_d i s t}$ or $| Z (o_{i}) - Z (o_{i - 1}) | > τ_{d e p t h_d i s t}$ then
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$O \leftarrow O \cup o^{'}$
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$o^{'} \leftarrow \emptyset$
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end if
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$o^{'} \leftarrow o^{'} \cup o$
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end for
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end function