Vision-based motion segmentation provides key information for dynamic scene understanding and decision making in autonomous navigation. In this paper, we propose an enhanced initialization strategy which is tightly coupled to a multibody Structure from Motion (SfM) segmentation employing a monocular camera. The method relies on epipolar geometry, RANSAC formulation and motion estimation for segmenting ego-motion and eoru-motions. The proposed strategy is intended to enhance the initialization procedure employed in [1] obtaining a 50 times speed-up factor. This result is used as input for the Track before Detection (TbD) methodology which efficiently simplifies the existing multibody Structure from Motion implementation approaches. An evaluation using images from a publicly available dataset with dynamic traffic scenarios and large camera motions confirms the effectiveness of the method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Enhanced Initialization for Track-before-Detection based Multibody Motion Segmentation from a Moving Camera




    Publication date :

    2019-10-01


    Size :

    1816988 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Multibody motion segmentation based on simulated annealing

    Zhimin Fan, / Jie Zhou, / Ying Wu, | IEEE | 2004


    Multibody Motion Segmentation Based on Simulated Annealing

    Fan, Z. / Zhou, J. / Wu, Y. et al. | British Library Conference Proceedings | 2004


    Illumination Subspace for Multibody Motion Segmentation

    Maki, A. / Hattori, H. / IEEE | British Library Conference Proceedings | 2001


    Photometric subspace for multibody motion segmentation

    Maki, A. | British Library Online Contents | 2004