Robust Algebraic Segmentation of Mixed Rigid-Body and Planar Motions from Two Views
International Journal of Computer Vision
Direct segmentation of multiple 2-D motion models of different types
WDV'05/WDV'06/ICCV'05/ECCV'06 Proceedings of the 2005/2006 international conference on Dynamical vision
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In this paper, we investigate the mathematical problem underlying segmentation of hybrid motions: Given a series of tracked feature correspondences between two (perspective) images, we seek to segment and estimate multiple motions, possibly of different types (e.g., affine, epipolar, and homography). In order to accomplish this task, we cast the problem into a more general mathematical framework of segmenting data samples drawn from a mixture of linear subspaces and quadratic surfaces. The result is a novel algorithm called Hybrid Quadratic Surface Analysis (HQSA). HQSA uses both the derivatives and Hessians of fitting poly-nomials for the data to separate linear data samples from quadratic data samples. These derivatives and Hessians also lead to important necessary conditions, based on the so-called mutual contraction subspace, to separate data samples on different quadratic surfaces. The algebraic solution we derive is non-iterative and numerically stable. It tolerates moderate noise and can be used in conjunction with outlier removal techniques. We show how to solve the hybrid motion segmentation problem using HQSA, and demonstrate its performance on simulated data with noise and on real perspective images.