翻译：Since we know the position of the previous and current frames, we project into the dynamic segments of the current frame the RGB and depth channels from a set of all the previ- ous keyframes (the last 20 in our experiments). Some gaps have no correspondences and are left blank: some areas cannot be inpainted because their correspondent part of the scene has not appeared so far in the keyframes, or, if it has appeared, it has no valid depth information. These gaps cannot be reconstructed with geometrical methods and would need a more elaborate in- painting technique. Fig. 5 shows the resulting synthetic images for three input frames from different sequences of the TUM benchmark. Notice how the dynamic content has been success- fully segmented and removed.

由于我们知道先前帧和当前帧的位置，因此我们可以将之前所有关键帧（在我们的实验中为最后20帧）中的RGB和深度通道投影到当前帧的动态区域中。一些缺口没有对应关系，因此被留空：一些区域由于其所对应的场景部分尚未在关键帧中出现，或者即使出现了，也没有有效的深度信息，因此不能进行补绘处理。这些缝隙无法通过几何方法重建，需要更为精细的修补技术。图5展示了TUM基准测试中不同序列的三个输入帧的合成图像。请注意，动态内容已经被成功地分割和移除。