In this video, a ball, a robot and a piece of orange luggage are fixed at posi-tions (0, 144), (0, 7) and (0, -144) respectively. Then another robot with a Kinect sensor rotates around these objects following a circular trajectory centered at (0, 0) with the radius of 300cm. The robot moves at the speed of 3m/s and its heading points towards the origin all the time during the dynamic test. We marked the detected ball with grey sphere and obstacle with red/white cube in the video, and there have some disfluency because of the visualization of point cloud in TX1. From the video we can conclude that our algorithm can  detect the ball and obstacles accurately.