Joint estimation of segmentation and structure from motion
dc.contributor.author
dc.date.accessioned
2015-11-18T09:01:13Z
dc.date.available
2015-11-18T09:01:13Z
dc.date.issued
2013
dc.identifier.issn
1077-3142
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dc.description.abstract
We present a novel optimisation framework for the estimation of the multi-body motion segmentation and 3D reconstruction of a set of point trajectories in the presence of missing data. The proposed solution not only assigns the trajectories to the correct motion but it also solves for the 3D location of multi-body shape and it fills the missing entries in the measurement matrix. Such a solution is based on two fundamental principles: each of the multi-body motions is controlled by a set of metric constraints that are given by the specific camera model, and the shape matrix that describes the multi-body 3D shape is generally sparse. We jointly include such constraints in a unique optimisation framework which, starting from an initial segmentation, iteratively enforces these set of constraints in three stages. First, metric constraints are used to estimate the 3D metric shape and to fill the missing entries according to an orthographic camera model. Then, wrongly segmented trajectories are detected by using sparse optimisation of the shape matrix. A final reclassification strategy assigns the detected points to the right motion or discards them as outliers. We provide experiments that show consistent improvements to previous approaches both on synthetic and real data
dc.description.sponsorship
This work has been supported by the Spanish Ministry of Science and Innovation projects CTM2011-29691-C02-02. L. Zappella was supported by the Catalan government scholarship 2009FI B1 00068
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application/pdf
dc.language.iso
eng
dc.publisher
Elsevier
dc.relation
info:eu-repo/grantAgreement/MICINN//CTM2011-29691-C02-02/ES/ROBOT AUTONOMO SUBMARINO PARA LA INSPECCION Y MONITORIZACION DE EXPLOTACIONES DE ACUICULTURA MARINA/
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Reproducció digital del document publicat a: http://dx.doi.org/10.1016/j.cviu.2012.09.004
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© Computer Vision and Image Understanding, 2013, vol. 117, núm. 2, p. 113-129
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.title
Joint estimation of segmentation and structure from motion
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/embargoedAccess
dc.embargo.terms
Cap
dc.date.embargoEndDate
info:eu-repo/date/embargoEnd/2026-01-01
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
017306
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dc.relation.ProjectAcronym