Motion based Segmentation for Robot Vision using Adapted EM Algorithm

Wei Zhao, Nico Roos

2016

Abstract

Robots operate in a dynamic world in which objects are often moving. The movement of objects may help the robot to segment the objects from the background. The result of the segmentation can subsequently be used to identify the objects. This paper investigates the possibility of segmenting objects of interest from the background for the purpose of identification based on motion. It focusses on two approaches to represent the movements: one based on optical flow estimation and the other based on the SIFT-features. The segmentation is based on the expectation-maximization algorithm. A support vector machine, which classifies the segmented objects, is used to evaluate the result of the segmentation.

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Paper Citation


in Harvard Style

Zhao W. and Roos N. (2016). Motion based Segmentation for Robot Vision using Adapted EM Algorithm . In Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016) ISBN 978-989-758-175-5, pages 649-656. DOI: 10.5220/0005721606490656


in Bibtex Style

@conference{visapp16,
author={Wei Zhao and Nico Roos},
title={Motion based Segmentation for Robot Vision using Adapted EM Algorithm},
booktitle={Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)},
year={2016},
pages={649-656},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005721606490656},
isbn={978-989-758-175-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)
TI - Motion based Segmentation for Robot Vision using Adapted EM Algorithm
SN - 978-989-758-175-5
AU - Zhao W.
AU - Roos N.
PY - 2016
SP - 649
EP - 656
DO - 10.5220/0005721606490656