TY - GEN
T1 - Motion segmentation of truncated signed distance function based volumetric surfaces
AU - Perera, Samunda
AU - Barnes, Nick
AU - He, Xuming
AU - Izadi, Shahram
AU - Kohli, Pushmeet
AU - Glocker, Ben
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/2/19
Y1 - 2015/2/19
N2 - 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 If objects in the environment move then a previously obtained TSDF reconstruction is no longer current.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.
AB - 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 If objects in the environment move then a previously obtained TSDF reconstruction is no longer current.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.
UR - http://www.scopus.com/inward/record.url?scp=84925423380&partnerID=8YFLogxK
U2 - 10.1109/WACV.2015.144
DO - 10.1109/WACV.2015.144
M3 - Conference contribution
T3 - Proceedings - 2015 IEEE Winter Conference on Applications of Computer Vision, WACV 2015
SP - 1046
EP - 1053
BT - Proceedings - 2015 IEEE Winter Conference on Applications of Computer Vision, WACV 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 15th IEEE Winter Conference on Applications of Computer Vision, WACV 2015
Y2 - 5 January 2015 through 9 January 2015
ER -