Image Frame Dynamic Object Segmentation and Ego Motion Estimation using Radar Image Fusion
Dynamic object segmentation and ego-motion estimation are closely coupled problems in autonomous driving, as accurate ego-motion estimation typically requires static scene observations, while identifying static observations requires knowledge of the ego motion. We present Radar-Dot, a radar--RGB framework that exploits radar Doppler measurements to address this coupling. Radar returns are first used to estimate ego velocity through a linear Doppler constraint, with residual-based static/dynamic segmentation and robust estimation used to reduce the influence of moving objects. The estimated motion is then combined with metric depth and dense optical flow to identify image regions whose obs...
| Authors | Astik Srivastava, Suhani Grover, Avinash Sharma et al. |
|---|---|
| Primary category | cs.CV |
| Published | 19 September 2026 |
| Last updated at source | 19 September 2026 |
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