Motion segmentation of truncated signed distance function based volumetric surfaces

Samunda Perera, Nick Barnes, Xuming He, Shahram Izadi, Pushmeet Kohli, Ben Glocker

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    20 Citations (Scopus)

    Abstract

    Truncated signed distance function (TSDF) based volumetric surface reconstructions of static environments can be readily acquired using recent RGB-D camera based mapping systems. If objects in the environment move then a previously obtained TSDF reconstruction is no longer current. Handling this problem requires segmenting moving objects from the reconstruction. To this end, we present a novel solution to the motion segmentation of TSDF volumes. The segmentation problem is cast as CRF-based MAP inference in the voxel space. We propose: a novel data term by solving sparse multi-body motion segmentation and computing likelihoods for each motion label in the RGB-D image space, and, a novel pair wise term based on gradients of the TSDF volume. Experimental evaluation shows that the proposed approach achieves successful segmentations on reconstructions acquired with Kinect Fusion. Unlike the existing solutions which only work if the objects move completely from their initially occupied spaces, the proposed method permits segmentation of objects when they start to move.

    Original languageEnglish
    Title of host publicationProceedings - 2015 IEEE Winter Conference on Applications of Computer Vision, WACV 2015
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1046-1053
    Number of pages8
    ISBN (Electronic)9781479966820
    DOIs
    Publication statusPublished - 19 Feb 2015
    Event2015 15th IEEE Winter Conference on Applications of Computer Vision, WACV 2015 - Waikoloa, United States
    Duration: 5 Jan 20159 Jan 2015

    Publication series

    NameProceedings - 2015 IEEE Winter Conference on Applications of Computer Vision, WACV 2015

    Conference

    Conference2015 15th IEEE Winter Conference on Applications of Computer Vision, WACV 2015
    Country/TerritoryUnited States
    CityWaikoloa
    Period5/01/159/01/15

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