Multi-body ICP: Motion Segmentation of Rigid Objects on Dense Point Clouds

Title
Multi-body ICP: Motion Segmentation of Rigid Objects on Dense Point Clouds
Authors
김영지임화섭안상철
Keywords
Motion segmentation; Motion clustering; Iterative Closest Point (ICP)
Issue Date
2015-10
Publisher
URAI (International Conference on Ubiquitous Robots and Ambient Intelligence)
Citation
VOL 1, NO 1, 1-5
Abstract
Motion is one of the crucial keys for segmenting moving objects in dynamic environment. This paper proposes an approach of segmenting moving parts in the sequence of point clouds. Different rigid motions in dense point clouds are found and clustered by applying segmentation schemes such as graph-cuts into Iterative Closest Point (ICP) algorithm with initial segmentation from Generalized PCA (GPCA). Result shows that we can estimate motions of rigidly moving objects and segment parts having different motions simultaneously.
URI
http://pubs.kist.re.kr/handle/201004/50750
Appears in Collections:
KIST Publication > Conference Paper
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