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Communication Dans Un Congrès Année : 2019

Enhanced Initialization for Track-before-Detection based Multibody Motion Segmentation from a Moving Camera

Résumé

Vision-based motion segmentation provides key information for dynamic scene understanding and decision making in autonomous navigation. In this paper, we propose an enhanced initialization strategy which is tightly coupled to a multibody Structure from Motion (SfM) segmentation employing a monocular camera. The method relies on epipolar geometry, RANSAC formulation and motion estimation for segmenting ego-motion and eoru-motions. The proposed strategy is intended to enhance the initialization procedure employed in [1] obtaining a 50 times speed-up factor. This result is used as input for the Track before Detection (TbD) methodology which efficiently simplifies the existing multibody Structure from Motion implementation approaches. An evaluation using images from a publicly available dataset with dynamic traffic scenarios and large camera motions confirms the effectiveness of the method.

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Dates et versions

hal-02393264 , version 1 (04-12-2019)

Identifiants

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Hernan Gonzalez, Arjun Balakrishnan, Sergio Alberto Rodriguez Florez, Abdelhafid Elouardi. Enhanced Initialization for Track-before-Detection based Multibody Motion Segmentation from a Moving Camera. 2019 IEEE Intelligent Transportation Systems Conference - ITSC, Oct 2019, Auckland, New Zealand. pp.2040-2045, ⟨10.1109/ITSC.2019.8917018⟩. ⟨hal-02393264⟩
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