Presentado a la 8th International Conference on Computer Vision Theory and Applications celebrada en Barcelona del 21 al 24 de febrero de 2013. ; A novel framework for joint segmentation and tracking in depth videos of object surfaces is presented. Initially, the 3D colored point cloud obtained using the Kinect camera is used to segment the scene into surface patches, defined by quadratic functions. The computed segments together with their functional descriptions are then used to partition the depth image of the subsequent frame in a consistent manner with respect to the precedent frame. This way, solutions established in previous frames can be reused which improves the efficiency of the algorithm and the coherency of the segmentations along the movie. The algorithm is tested for scenes showing human and robot manipulations of objects. We demonstrate that the method can successfully segment and track the human/robot arm and object surfaces along the manipulations. The performance is evaluated quantitatively by measuring the temporal coherency of the segmentations and the segmentation covering using ground truth. The method provides a visual front-end designed for robotic applications, and can potentially be used in the context of manipulation recognition, visual servoing, and robot-grasping tasks. ; This research is partially funded by the EU projects GARNICS (FP7-247947) and IntellAct (FP7-269959), and the Grup consolidat 2009 SGR155. B. Dellen acknowledges support from the Spanish Ministry of Science and Innovation through a Ramon y Cajal program. ; Peer Reviewed
Joint segmentation and tracking of object surfaces in depth movies along human/robot manipulations
01.01.2013
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Motion , Segmentation , Surface fitting , Shape , Range data
DDC: | 629 |
Joint segmentation and tracking of object surfaces in depth movies along human/robot manipulations
BASE | 2013
|Europäisches Patentamt | 2023
|NTRS | 1963
|Online Contents | 1996
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