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Fast object segmentation from a moving camera
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
2005 (English)In: 2005 IEEE Intelligent Vehicles Symposium Proceedings, NEW YORK, NY: IEEE , 2005, 136-141 p.Conference paper (Refereed)
Abstract [en]

Segmentation of the scene is a fundamental component in computer vision to find regions of interest. Most systems that aspire to run in real-time use a fast segmentation stage that considers the whole image, and then a more costly stage for classification. In this paper we present a novel approach to segment moving objects from images taken with a moving camera. The segmentation algorithm is based on a special representation of optical flow, on which u-disparity is applied. The u-disparity is used to indirectly find and mask out the background flow in the image, by approximating it with a quadratic function. Robustness in the optical flow calculation is achieved by contrast content filtering. The algorithm successfully segments moving pedestrians from a moving vehicle with few false positive segments. Most false positive segments are due to poles and organic structures, such as trees. Such false positives are, however, easily rejected in a classification stage. The presented segmentation algorithm is intended to be used as a component in a detection/classification framework.

Place, publisher, year, edition, pages
NEW YORK, NY: IEEE , 2005. 136-141 p.
Keyword [en]
Algorithms, Cameras, Classification (of information), Computer vision, Image segmentation, Quadratic programming, Real time systems, Robustness (control systems)
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-43143DOI: 10.1109/IVS.2005.1505091ISI: 000235518700022ScopusID: 2-s2.0-33745937929ISBN: 0-7803-8961-1OAI: diva2:448234
IEEE Intelligent Vechicles Symposium. Las Vegas, NV. JUN 06-08, 2005
QC 20111014Available from: 2011-10-14 Created: 2011-10-13 Last updated: 2011-10-14Bibliographically approved

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Arnell, Fredrik
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