11,021 research outputs found
A trajectory clustering approach to crowd flow segmentation in videos
This work proposes a trajectory clustering-based approach for segmenting flow patterns in high density crowd videos. The goal is to produce a pixel-wise segmentation of a video sequence (static camera), where each segment corresponds to a different motion pattern. Unlike previous studies that use only motion vectors, we extract full trajectories so as to capture the complete temporal evolution of each region (block) in a video sequence. The extracted trajectories are dense, complex and often overlapping. A novel clustering algorithm is developed to group these trajectories that takes into account the information about the trajectories’ shape, location, and the density of trajectory patterns in a spatial neighborhood. Once the trajectories are clustered, final motion segments are obtained by grouping of the resulting trajectory clusters on the basis of their area of overlap, and average flow direction. The proposed method is validated on a set of crowd videos that are commonly used in this field. On comparison with several state-of-the-art techniques, our method achieves better overall accuracy
Multi-Cue Structure Preserving MRF for Unconstrained Video Segmentation
Video segmentation is a stepping stone to understanding video context. Video
segmentation enables one to represent a video by decomposing it into coherent
regions which comprise whole or parts of objects. However, the challenge
originates from the fact that most of the video segmentation algorithms are
based on unsupervised learning due to expensive cost of pixelwise video
annotation and intra-class variability within similar unconstrained video
classes. We propose a Markov Random Field model for unconstrained video
segmentation that relies on tight integration of multiple cues: vertices are
defined from contour based superpixels, unary potentials from temporal smooth
label likelihood and pairwise potentials from global structure of a video.
Multi-cue structure is a breakthrough to extracting coherent object regions for
unconstrained videos in absence of supervision. Our experiments on VSB100
dataset show that the proposed model significantly outperforms competing
state-of-the-art algorithms. Qualitative analysis illustrates that video
segmentation result of the proposed model is consistent with human perception
of objects
Dynamic Body VSLAM with Semantic Constraints
Image based reconstruction of urban environments is a challenging problem
that deals with optimization of large number of variables, and has several
sources of errors like the presence of dynamic objects. Since most large scale
approaches make the assumption of observing static scenes, dynamic objects are
relegated to the noise modeling section of such systems. This is an approach of
convenience since the RANSAC based framework used to compute most multiview
geometric quantities for static scenes naturally confine dynamic objects to the
class of outlier measurements. However, reconstructing dynamic objects along
with the static environment helps us get a complete picture of an urban
environment. Such understanding can then be used for important robotic tasks
like path planning for autonomous navigation, obstacle tracking and avoidance,
and other areas. In this paper, we propose a system for robust SLAM that works
in both static and dynamic environments. To overcome the challenge of dynamic
objects in the scene, we propose a new model to incorporate semantic
constraints into the reconstruction algorithm. While some of these constraints
are based on multi-layered dense CRFs trained over appearance as well as motion
cues, other proposed constraints can be expressed as additional terms in the
bundle adjustment optimization process that does iterative refinement of 3D
structure and camera / object motion trajectories. We show results on the
challenging KITTI urban dataset for accuracy of motion segmentation and
reconstruction of the trajectory and shape of moving objects relative to ground
truth. We are able to show average relative error reduction by a significant
amount for moving object trajectory reconstruction relative to state-of-the-art
methods like VISO 2, as well as standard bundle adjustment algorithms
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