A Variational Approach for Ego-motion Estimation and Segmentation Based on 3D TOF Camera

摘要：

A variational approach for ego-motion estimation and segmentation based on 3D camera is proposed in this paper. The employed sensor is a 3D TOF camera, SR3000 from Mesa, which can provide intensity and range data at high frame rates. Unlike most other motionbased segmentation algorithm, this approach is performed by joining both segmentation and estimation into an energy functional. The problem is formulated by energy minimization based on level set method and solved by iterating between the estimation and segmentation steps derived from the energy functional. The efficacy of this method is validated by experiments in various indoor environments.

关键词： ego-motion estimation segmentation level set TOF camera

作者: Shiyan Wang Huimin Yu

作者单位: Department of Information Science and Electronic Engineering Zhejiang University Hangzhou, China

会议类型: 国际会议

会议名称: 2011 4th International Congress on Image and Signal Processing(第四届图像与信号处理国际学术会议 CISP 2011)

会议地点: 上海

会议语种:英文

页码: 1174-1178

在线出版日期: 2011-10-15（万方平台首次上网日期，不代表论文的发表时间）