An efficient motion segmentation algorithm for multibody RGB-D slam

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Conference Proceeding
Australasian Conference on Robotics and Automation, ACRA, 2013
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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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