Moving object segmentation using depth images
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United States of America Patent
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Mar 19, 2013
Grant Date -
Aug 2, 2012
app pub date -
Jan 31, 2011
filing date -
Jan 31, 2011
priority date (Note) -
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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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