Robust multi-body segmentation
نویسندگان
چکیده
Good correspondences are a key to a correct 3D reconstruction of a scene, especially in the presence of multiple independent objects. In this paper a novel segmentation algorithm is presented that decouples the outlier rejection from the object segmentation. It is shown that the proposed outlier rejection scheme provides a dense set of correspondences across the image and eliminates gross outliers. These correspondences are subsequently used for the segmentation of objects by enforcing constraints of rigid motion. Simple additional constraints are incorporated in the segmentation process to ensure further stability under non-optimal conditions. The algorithm requires only two pictures of the scene and most of the computation can be parallelised easily, making the algorithm highly suitable for real-time hardware processing. The performance of the algorithm is illustrated on real images and the strengths and weaknesses of the approach are discussed.
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