Figure 5

Motion artefacts.

(a) Large absolute differences in range captured in the two scans indicate motion artefacts; laterally moving objects (e.g. people, cars) appear as thin vertical strips due to the rotational motion of the scanner. (b,c) Examples of foliage and vehicle/pedestrian motion. (d) Histogram of depth contrast for manually selected rectangular ROI with strong motion artefacts, with automatically selected threshold (dashed line). (e) Final mask defining the pixels to be assigned the maximum depth over the two scans. (f) Depth map with artefacts removed.