43,245 research outputs found
MHP-VOS: Multiple Hypotheses Propagation for Video Object Segmentation
We address the problem of semi-supervised video object segmentation (VOS),
where the masks of objects of interests are given in the first frame of an
input video. To deal with challenging cases where objects are occluded or
missing, previous work relies on greedy data association strategies that make
decisions for each frame individually. In this paper, we propose a novel
approach to defer the decision making for a target object in each frame, until
a global view can be established with the entire video being taken into
consideration. Our approach is in the same spirit as Multiple Hypotheses
Tracking (MHT) methods, making several critical adaptations for the VOS
problem. We employ the bounding box (bbox) hypothesis for tracking tree
formation, and the multiple hypotheses are spawned by propagating the preceding
bbox into the detected bbox proposals within a gated region starting from the
initial object mask in the first frame. The gated region is determined by a
gating scheme which takes into account a more comprehensive motion model rather
than the simple Kalman filtering model in traditional MHT. To further design
more customized algorithms tailored for VOS, we develop a novel mask
propagation score instead of the appearance similarity score that could be
brittle due to large deformations. The mask propagation score, together with
the motion score, determines the affinity between the hypotheses during tree
pruning. Finally, a novel mask merging strategy is employed to handle mask
conflicts between objects. Extensive experiments on challenging datasets
demonstrate the effectiveness of the proposed method, especially in the case of
object missing.Comment: accepted to CVPR 2019 as oral presentatio
Independent Motion Detection with Event-driven Cameras
Unlike standard cameras that send intensity images at a constant frame rate,
event-driven cameras asynchronously report pixel-level brightness changes,
offering low latency and high temporal resolution (both in the order of
micro-seconds). As such, they have great potential for fast and low power
vision algorithms for robots. Visual tracking, for example, is easily achieved
even for very fast stimuli, as only moving objects cause brightness changes.
However, cameras mounted on a moving robot are typically non-stationary and the
same tracking problem becomes confounded by background clutter events due to
the robot ego-motion. In this paper, we propose a method for segmenting the
motion of an independently moving object for event-driven cameras. Our method
detects and tracks corners in the event stream and learns the statistics of
their motion as a function of the robot's joint velocities when no
independently moving objects are present. During robot operation, independently
moving objects are identified by discrepancies between the predicted corner
velocities from ego-motion and the measured corner velocities. We validate the
algorithm on data collected from the neuromorphic iCub robot. We achieve a
precision of ~ 90 % and show that the method is robust to changes in speed of
both the head and the target.Comment: 7 pages, 6 figure
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