Lab meeting Oct 17th 2012 (Hank): Motion Segmentation of Multiple Objects from a Freely Moving Monocular Camera

Lab meeting Oct 17th 2012 (Hank): Motion Segmentation of Multiple Objects from a Freely Moving Monocular Camera

Link

Presented by Hank Lin

From ICRA2012

Authors: Rahul Kumar Namdev, Abhijit Kundu, K Madhava Krishna and C. V. Jawahar


Abstract:
Motion segmentation or segmentation of moving
objects is an inevitable component for mobile robotic systems
such as the case with robots performing SLAM and collision
avoidance in dynamic worlds. This paper proposes an incre-mental motion segmentation system that efficiently segments
multiple moving objects and simultaneously build the map of
the environment using visual SLAM modules. Multiple cues
based on optical flow and two view geometry are integrated
to achieve this segmentation. A dense optical flow algorithm
provides for dense tracking of features. Motion potentials based
on geometry are computed for each of these dense tracks. These
geometric potentials along with optical flow potentials are used
to form a graph like structure. A graph based segmentation
algorithm then clusters together nodes of similar potentials
to form the eventual motion segments. Experimental results
of high quality segmentation on different publicly available
datasets demonstrate the effectiveness of our method.