An efficient motion segmentation algorithm for multibody RGB-D slam

Wang, Y; Huang, S

An efficient motion segmentation algorithm for multibody RGB-D slam

Wang, Y Huang, S

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Publication Type:: Conference Proceeding
Citation:: Australasian Conference on Robotics and Automation, ACRA, 2013
Issue Date:: 2013-01-01

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Field	Value	Language
dc.contributor.author	Wang, Y	en_US
dc.contributor.author	Huang, S https://orcid.org/0000-0002-6124-4178	en_US
dc.date.issued	2013-01-01	en_US
dc.identifier.citation	Australasian Conference on Robotics and Automation, ACRA, 2013	en_US
dc.identifier.isbn	9780980740448	en_US
dc.identifier.issn	1448-2053	en_US
dc.identifier.uri	http://hdl.handle.net/10453/26734
dc.description.abstract	A simple motion segmentation algorithm using only two frames of RGB-D data is proposed, and both simulational and experimental segmentation results show its efficiency and reliability. To further verify its usability in multibody SLAM scenarios, we firstly apply it to a simualted typical multibody SLAM problem with only a RGB-D camera, and then utilize it to segment a real RGB-D dataset collected by ourselves. Based on the good results of our motion segmentation algorithm, we can get satisfactory SLAM results for the simualted problem and the segmenation results using real data also enable us to get visual odometry for each motion group thus facilitate the following steps to solve the practical multibody RGB-D SLAM problems.	en_US
dc.relation.ispartof	Australasian Conference on Robotics and Automation, ACRA	en_US
dc.title	An efficient motion segmentation algorithm for multibody RGB-D slam	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	University of New South Wales, Sydney Australia	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

A simple motion segmentation algorithm using only two frames of RGB-D data is proposed, and both simulational and experimental segmentation results show its efficiency and reliability. To further verify its usability in multibody SLAM scenarios, we firstly apply it to a simualted typical multibody SLAM problem with only a RGB-D camera, and then utilize it to segment a real RGB-D dataset collected by ourselves. Based on the good results of our motion segmentation algorithm, we can get satisfactory SLAM results for the simualted problem and the segmenation results using real data also enable us to get visual odometry for each motion group thus facilitate the following steps to solve the practical multibody RGB-D SLAM problems.

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http://hdl.handle.net/10453/26734