Motion Segmentation Using Occlusions
IEEE Transactions on Pattern Analysis and Machine Intelligence
Segmentation and Recognition Using Structure from Motion Point Clouds
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
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We describe a number of advances in the analysis of road scenes when the scene contains multiple moving objects and is observed by a single nonsteerable camera mounted on the front of a vehicle. Our structure from motion approach to scene segmentation derives front the observed motions of independently moving objects and requires no prior knowledge. We describe a hierarchy of camera models for the analysis of the scene, the simpler models handle degeneracies that occur in the more complex models. The major technical contribution is the recursive computation of feature clusters, which are fed forward over time. This closed loop feature tracking generates extended feature trajectories which significantly improve the discriminating power of scene segmentation.