Robust Realtime Motion-Split-And-Merge for Motion Segmentation

In this paper, we analyze and modify the Motion-Split-andMerge (MSAM) algorithm [3] for the motion segmentation of correspondences between two frames. Our goal is to make the algorithm suitable for practical use which means realtime processing speed at very low error rates. We compare our (robust realtime) RMSAM with J-Linkage [16] and Graph-Based Segmentation [5] and show that it is superior to both. Applying RMSAM in a multi-frame motion segmentation context to the Hopkins 155 benchmark, we show that compared to the original formulation, the error decreases from 2.05% to only 0.65% at a runtime reduced by 72%. The error is still higher than the best results reported so far, but RMSAM is dramatically faster and can handle outliers and missing data.