Lab Meeting, December 26, 2013 (Tom Hsu): An Efficient Motion Segmentation Algorithm for Multibody RGB-D SLAM, (Proceedings of Australasian Conference on Robotics and Automation, 2-4 Dec 2013)

Title:
An Efficient Motion Segmentation Algorithm for Multibody RGB-D SLAM

Author:
Youbing Wang, Shoudong Huang
Faculty of Engineering and IT, University of Technology, Sydney, Australia

Abstract:
A simple motion segmentation algorithm using only two frames of RGB-D data is proposed, and both simulational and experimental segmentation results show its efficiency and reliability. To further verify its usability in multi-body SLAM scenarios, we firstly apply it to a simulated typical multi-body SLAM problem
with only a RGB-D camera, and then utilize it to segment a real RGB-D dataset collected by ourselves. Based on the good results of our motion segmentation algorithm, we can get satisfactory SLAM results for the simulated problem and the segmentation results using real data also enable us to get visual odometry for each
motion group thus facilitate the following steps to solve the practical multi-body RGB-D SLAM problems.

From:
Proceedings of Australasian Conference on Robotics and Automation, 2-4 Dec 2013, University of New South Wales, Sydney Australia

Link:
paper