Abstract
A scene containing multiple independently moving, possibly occluding, rigid objects is considered under the weak perspective camera model. We obtain a set of feature points tracked across a number of frames and address the problem of 3D motion segmentation of the objects in presence of measurement noise and outliers. We extend the robust structure from motion (SfM) method [5] to 3D motion segmentation and apply it to realistic, contaminated tracking data with occlusion. A number of approaches to 3D motion segmentation have already been proposed [3,6,14,15]. However, most of them were not developed for, and tested on, noisy and outlier-corrupted data that often occurs in practice. Due to the consistent use of robust techniques at all critical steps, our approach can cope with such data, as demonstrated in a number of tests with synthetic and real image sequences.
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Hajder, L., Chetverikov, D. (2007). Robust 3D Segmentation of Multiple Moving Objects Under Weak Perspective. In: Vidal, R., Heyden, A., Ma, Y. (eds) Dynamical Vision. WDV WDV 2006 2005. Lecture Notes in Computer Science, vol 4358. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-70932-9_4
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DOI: https://doi.org/10.1007/978-3-540-70932-9_4
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