Figure 14.

Detection and removal of non-stationary objects in a KITTI MOTS suburban scenario: frontal camera view (A), the corresponding synthesized intensity image (B), motion segmentation mask (C), accumulated point clouds showing the trail of laser points left by a moving car (denoted 1) and some parked cars (denoted 2 and 3) (D), and accumulated point clouds after removal of the non-stationary objects—note that the points corresponding to the moving car have been removed, while the parked (stationary) cars are still visible (E).