Moving Object Segmentation Using Depth Images
First Claim
1. A computer-implemented method of segmenting a moving object from a background portion of a depth image, comprising:
- receiving the depth image from a mobile depth camera, the depth image comprising a depth value at each image element, each depth value being related to a distance from the depth camera to a surface in a scene captured by the depth camera;
retrieving a previous depth image of at least a portion of the scene;
executing an iterative closest point algorithm using the depth image and the previous depth image, wherein the iterative closest point algorithm comprises a determination of a plurality of corresponding points in the depth image and the previous depth image; and
detecting one or more outlying points during the determination of the plurality of corresponding points, and labeling those image elements in the depth image at the outlying points as moving object image elements.
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Abstract
Moving object segmentation using depth images is described. In an example, a moving object is segmented from the background of a depth image of a scene received from a mobile depth camera. A previous depth image of the scene is retrieved, and compared to the current depth image using an iterative closest point algorithm. The iterative closest point algorithm includes a determination of a set of points that correspond between the current depth image and the previous depth image. During the determination of the set of points, one or more outlying points are detected that do not correspond between the two depth images, and the image elements at these outlying points are labeled as belonging to the moving object. In examples, the iterative closest point algorithm is executed as part of an algorithm for tracking the mobile depth camera, and hence the segmentation does not add substantial additional computational complexity.
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Citations
20 Claims
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1. A computer-implemented method of segmenting a moving object from a background portion of a depth image, comprising:
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receiving the depth image from a mobile depth camera, the depth image comprising a depth value at each image element, each depth value being related to a distance from the depth camera to a surface in a scene captured by the depth camera; retrieving a previous depth image of at least a portion of the scene; executing an iterative closest point algorithm using the depth image and the previous depth image, wherein the iterative closest point algorithm comprises a determination of a plurality of corresponding points in the depth image and the previous depth image; and detecting one or more outlying points during the determination of the plurality of corresponding points, and labeling those image elements in the depth image at the outlying points as moving object image elements. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An image segmentation system, comprising:
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a communication interface arranged to receive a depth image from a mobile depth camera, the depth image comprising a depth value at each image element, each depth value being related to a distance from the depth camera to a surface in a scene captured by the depth camera; a memory arranged to store a previous depth image of at least a portion of the scene; and a processor arranged to;
execute an iterative closest point algorithm using the depth image and the previous depth image, wherein the iterative closest point algorithm comprises a determination of a plurality of corresponding points in the depth image and the previous depth image;
detect one or more outlying points during the determination of the plurality of corresponding points; and
label those image elements in the depth image at the outlying points as moving object image elements. - View Dependent Claims (17, 18, 19)
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20. One or more tangible device-readable media with device-executable instructions that, when executed by a computing system, direct the computing system to perform steps comprising:
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receiving a first depth image from a mobile depth camera, the first depth image comprising a depth value at each image element, each depth value being related to a distance from the depth camera to a surface in a scene captured by the depth camera; retrieving a previous depth image of at least a portion of the scene and a capture location and orientation for the previous depth image; executing an iterative closest point algorithm using the first depth image, the previous depth image and the capture location and orientation to determine a transformation for aligning the first depth image with the previous depth image, wherein the iterative closest point algorithm comprises a determination of a plurality of corresponding points in the first depth image and the previous depth image; detecting one or more outlying points during the determination of the plurality of corresponding points; and subsequently processing a set of image elements in the first depth image at the outlying points as a separate object moving relative to the rest of the scene.
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Specification