11,599 research outputs found

    Fast Multi-frame Stereo Scene Flow with Motion Segmentation

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    We propose a new multi-frame method for efficiently computing scene flow (dense depth and optical flow) and camera ego-motion for a dynamic scene observed from a moving stereo camera rig. Our technique also segments out moving objects from the rigid scene. In our method, we first estimate the disparity map and the 6-DOF camera motion using stereo matching and visual odometry. We then identify regions inconsistent with the estimated camera motion and compute per-pixel optical flow only at these regions. This flow proposal is fused with the camera motion-based flow proposal using fusion moves to obtain the final optical flow and motion segmentation. This unified framework benefits all four tasks - stereo, optical flow, visual odometry and motion segmentation leading to overall higher accuracy and efficiency. Our method is currently ranked third on the KITTI 2015 scene flow benchmark. Furthermore, our CPU implementation runs in 2-3 seconds per frame which is 1-3 orders of magnitude faster than the top six methods. We also report a thorough evaluation on challenging Sintel sequences with fast camera and object motion, where our method consistently outperforms OSF [Menze and Geiger, 2015], which is currently ranked second on the KITTI benchmark.Comment: 15 pages. To appear at IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2017). Our results were submitted to KITTI 2015 Stereo Scene Flow Benchmark in November 201

    Ten simple rules for reporting voxel-based morphometry studies

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    Voxel-based morphometry [Ashburner, J. and Friston, K.J., 2000. Voxel-based morphometry—the methods. NeuroImage 11(6 Pt 1), 805–821] is a commonly used tool for studying patterns of brain change in development or disease and neuroanatomical correlates of subject characteristics. In performing a VBM study, many methodological options are available; if the study is to be easily interpretable and repeatable, the processing steps and decisions must be clearly described. Similarly, unusual methods and parameter choices should be justified in order to aid readers in judging the importance of such options or in comparing the work with other studies. This editorial suggests core principles that should be followed and information that should be included when reporting a VBM study in order to make it transparent, replicable and useful

    The TREC-2002 video track report

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    TREC-2002 saw the second running of the Video Track, the goal of which was to promote progress in content-based retrieval from digital video via open, metrics-based evaluation. The track used 73.3 hours of publicly available digital video (in MPEG-1/VCD format) downloaded by the participants directly from the Internet Archive (Prelinger Archives) (internetarchive, 2002) and some from the Open Video Project (Marchionini, 2001). The material comprised advertising, educational, industrial, and amateur films produced between the 1930's and the 1970's by corporations, nonprofit organizations, trade associations, community and interest groups, educational institutions, and individuals. 17 teams representing 5 companies and 12 universities - 4 from Asia, 9 from Europe, and 4 from the US - participated in one or more of three tasks in the 2001 video track: shot boundary determination, feature extraction, and search (manual or interactive). Results were scored by NIST using manually created truth data for shot boundary determination and manual assessment of feature extraction and search results. This paper is an introduction to, and an overview of, the track framework - the tasks, data, and measures - the approaches taken by the participating groups, the results, and issues regrading the evaluation. For detailed information about the approaches and results, the reader should see the various site reports in the final workshop proceedings

    Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects

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    In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and reconstructing their 3D shape in real time. We use a multiple model fitting approach where each object can move independently from the background and still be effectively tracked and its shape fused over time using only the information from pixels associated with that object label. Previous attempts to deal with dynamic scenes have typically considered moving regions as outliers, and consequently do not model their shape or track their motion over time. In contrast, we enable the robot to maintain 3D models for each of the segmented objects and to improve them over time through fusion. As a result, our system can enable a robot to maintain a scene description at the object level which has the potential to allow interactions with its working environment; even in the case of dynamic scenes.Comment: International Conference on Robotics and Automation (ICRA) 2017, http://visual.cs.ucl.ac.uk/pubs/cofusion, https://github.com/martinruenz/co-fusio
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