Use of temporal motion vectors for 3D reconstruction

A system for three-dimensional (3D) reconstruction of a dynamic scene as a set of voxels, the system comprising:

• a data capture circuit configured to receive image data from each of two or more spatially-separated sensors observing the scene from a corresponding two or more vantage points;
• an image processing circuit configured to fuse the image data into a first set of voxels on a frame-by-frame basis;
• an object segmentation circuit configured to segment the image data into objects that constitute the scene;
• a motion detection circuit configured to detect which of the objects remain static from frame to frame, remaining ones of the objects being dynamic;
• a voxel mapping circuit configured to map the static objects to their corresponding ones of the voxels of the first set;
• a static filter circuit configured to remove the voxels corresponding to the static objects from the first set of voxels to produce a second set of voxels different from the first set of voxels, the second set including only dynamic voxels;
• and
• a voxel output circuit configured to output, to a display device, the second set of voxels and not any voxels corresponding to the static objects from the first set.

At least one non-transitory computer readable storage medium having instructions encoded thereon that, when executed by one or more processors, result in the following operations for three-dimensional (3D) reconstruction of a dynamic scene as a set of voxels being performed, the operations comprising:

• receiving image data from each of two or more spatially-separated sensors observing the scene from a corresponding two or more vantage points;
• fusing the image data into a first set of voxels on a frame-by-frame basis;
• segmenting the image data into objects that constitute the scene;
• detecting which of the objects remain static from frame to frame, remaining ones of the objects being dynamic;
• mapping the static objects to their corresponding voxels of the first set;
• removing the voxels corresponding to the static objects from the first set of voxels to form a second set of voxels different from the first set of voxels, the second set including only dynamic voxels;
• and
• outputting to a display device the second set of voxels and not any voxels corresponding to the static objects from the first set.