title: Simultaneous two-view epipolar geometry estimation and motion segmentation by 4D tensor voting.
abstract: We address the problem of simultaneous two-view epipolar geometry estimation and motion segmentation from nonstatic scenes. Given a set of noisy image pairs containing matches of n objects, we propose an unconventional, efficient, and robust method, 4D tensor voting, for estimating the unknown n epipolar geometries, and segmenting the static and motion matching pairs into n independent motions. By considering the 4D isotropic and orthogonal joint image space, only two tensor voting passes are needed, and a very high noise to signal ratio (up to five) can be tolerated. Epipolar geometries corresponding to multiple, rigid motions are extracted in succession. Only two uncalibrated frames are needed, and no simplifying assumption (such as affine camera model or homographic model between images) other than the pin-hole camera model is made. Our novel approach consists of propagating a local geometric smoothness constraint in the 4D joint image space, followed by global consistency enforcement for extracting the fundamental matrices corresponding to independent motions. We have performed extensive experiments to compare our method with some representative algorithms to show that better performance on nonstatic scenes are achieved. Results on challenging data sets are presented.
authors.affiliation: Department of Computer Science, Hong Kong University of Science & Technology, Clear Water Bay, Hong Kong. cstws@cs.ust.hk
authors.forename: Wai-Shun
authors.initials: WS
authors.lastname: Tong
authors.forename: Chi-Keung
authors.initials: CK
authors.lastname: Tang
authors.forename: Gérard
authors.initials: G
authors.lastname: Medioni
mesh_terms: D000465:Algorithms; D000818:Animals; D001185:Artificial Intelligence; D016000:Cluster Analysis; D006801:Humans; D007089:Image Enhancement / Q000379:methods; D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D021621:Imaging, Three-Dimensional / Q000379:methods*; D016247:Information Storage and Retrieval / Q000379:methods; D009068:Movement / Q000502:physiology*; D009716:Numerical Analysis, Computer-Assisted; D010363:Pattern Recognition, Automated / Q000379:methods*; D015203:Reproducibility of Results; D012680:Sensitivity and Specificity; D012815:Signal Processing, Computer-Assisted; D013382:Subtraction Technique; D014741:Video Recording / Q000379:methods