Table 1.

Frequently used notations in this paper.

Symbol	Description
p(x, y)	The pixel of a depth map in Cartesian coordinates
d	The distance between the image plane of a ToF sensor and a point in the object plane
𝜃	The rotation angle between the motion of an object and the image plane of a ToF sensor
I	The initial depth map in 2D matrix of pixels with dimensions M × N
I b	The binary depth map in 2D matrix of pixels with dimensions M × N
I f	The blurred depth map in 2D matrix of pixels with dimensions M × N
$\overrightarrow{v}$	The velocity of a pixel at p(x, y)
vx	The velocity component in the x-direction
vy	The velocity component in the y-direction
w	The ROI dimension tangential to the velocity of a pixel at p(x, y)
h	The ROI dimension orthogonal to the velocity of a pixel at p(x, y)
s(x, y)	The perspective distortion scaling function of a pixel at p(x, y)
β	The rotation angle of an ROI within a depth map
$\stackrel{\rightharpoonup }{\phi }$	The angular motor velocity of a radial motion
$\stackrel{\rightharpoonup }{\mu }$	The linear motor velocity of a linear motion
{n0, n1, …, nl}	The set of neighboring pixels within an ROI for a given pixel p(x, y)
pp	The initial probability of a given pixel p(x, y) having a value of zero
ε(sp, sni)	The potential function of the ith neighboring pixel to the given pixel p(x, y)
${\tilde{p}}_p$	The predicted probability of a given pixel p(x, y) having a value of zero
${\tilde{s}}_p$	The predicted state of a given pixel p(x, y) having a value of one or zero in a binary depth map