Segmentation of Rigid Motion from Non-rigid 2D Trajectories

Authors:
Alessio Bue;Xavier Lladó;Lourdes Agapito
Affiliations:
Instituto de Sistemas e Robótica, Instituo Superior Técnico, Lisboa, Portugal;Dept. of Electronics, Computer Eng. and Automatics, Universtiy of Girona, Spain;Department of Computer Science, Queen Mary, University of London, UK
Venue:
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part I
Year:
2007

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Abstract

In this paper we evaluate an automatic segmentation algorithm able to identify the set of rigidly moving points within a deformable object given the 2D measurements acquired by a perspective camera. The method is based on a RANSAC algorithm with guided sampling and an estimation of the fundamental matrices from pairwise frames in the sequence. Once the segmentation of rigid and non-rigid points is available, the set of rigid points could be used to estimate the internal camera calibration parameters, the overall rigid motion and the non-rigid 3D structure.