Detecting motion regions in presence of strong parallax from a moving camera by multi-view geometric constraints.
We present a method for detecting motion regions in video sequences observed by a moving camera, in the presence of strong parallax due to static 3D structures. The proposed method classifies each image pixel into planar background, parallax or motion regions by sequentially applying 2D planar homographies, the epipolar constraint and a novel geometric constraint, called "structure consistency constraint". The structure consistency constraint, as the main contribution of this paper, is derived from the relative camera poses among three frames and implemented within the "Plane+Parallax" framework. Unlike previous planar-parallax constraints, the proposed constraint does not require the reference plane to be constant across multiple views. It directly measures the inconsistency between the projective structures from the same point under camera motion and reference plane change. The structure consistency constraint is capable of detecting moving objects followed by a moving camera in the same direction, a so called degenerate configuration where the epipolar constraint fails. We demonstrate the effectiveness and robustness of our method with experimental results on real-world video sequences.
Yuan
Chang
C
Institute of Robotics and Inteligent Systems, University of Southern California, Los Angeles, CA 90089, USA. cyuan@usc.edu
Medioni
Gerard
G
Kang
Jinman
J
Cohen
Isaac
I
D000465:Algorithms; D016477:Artifacts; D001185:Artificial Intelligence; D007089:Image Enhancement / Q000379:methods*; D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D021621:Imaging, Three-Dimensional / Q000379:methods*; D009038:Motion; D010363:Pattern Recognition, Automated / Q000379:methods*; D010780:Photogrammetry / Q000295:instrumentation / Q000379:methods*; D015203:Reproducibility of Results; D012680:Sensitivity and Specificity