Steven Hickson, Stan Birchfield, Irfan Essa, H. Christensen
{"title":"Efficient Hierarchical Graph-Based Segmentation of RGBD Videos","authors":"Steven Hickson, Stan Birchfield, Irfan Essa, H. Christensen","doi":"10.1109/CVPR.2014.51","DOIUrl":null,"url":null,"abstract":"We present an efficient and scalable algorithm for segmenting 3D RGBD point clouds by combining depth, color, and temporal information using a multistage, hierarchical graph-based approach. Our algorithm processes a moving window over several point clouds to group similar regions over a graph, resulting in an initial over-segmentation. These regions are then merged to yield a dendrogram using agglomerative clustering via a minimum spanning tree algorithm. Bipartite graph matching at a given level of the hierarchical tree yields the final segmentation of the point clouds by maintaining region identities over arbitrarily long periods of time. We show that a multistage segmentation with depth then color yields better results than a linear combination of depth and color. Due to its incremental processing, our algorithm can process videos of any length and in a streaming pipeline. The algorithm's ability to produce robust, efficient segmentation is demonstrated with numerous experimental results on challenging sequences from our own as well as public RGBD data sets.","PeriodicalId":319578,"journal":{"name":"2014 IEEE Conference on Computer Vision and Pattern Recognition","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"66","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 IEEE Conference on Computer Vision and Pattern Recognition","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CVPR.2014.51","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 66
Abstract
We present an efficient and scalable algorithm for segmenting 3D RGBD point clouds by combining depth, color, and temporal information using a multistage, hierarchical graph-based approach. Our algorithm processes a moving window over several point clouds to group similar regions over a graph, resulting in an initial over-segmentation. These regions are then merged to yield a dendrogram using agglomerative clustering via a minimum spanning tree algorithm. Bipartite graph matching at a given level of the hierarchical tree yields the final segmentation of the point clouds by maintaining region identities over arbitrarily long periods of time. We show that a multistage segmentation with depth then color yields better results than a linear combination of depth and color. Due to its incremental processing, our algorithm can process videos of any length and in a streaming pipeline. The algorithm's ability to produce robust, efficient segmentation is demonstrated with numerous experimental results on challenging sequences from our own as well as public RGBD data sets.