NDLI: The multibody trifocal tensor: motion segmentation from 3 perspective views

Content Provider	IEEE Xplore Digital Library
Author	Hartley, R. Vidal, R.
Copyright Year	2004
Description	Author affiliation: Dept. of Syst. Eng., Australian Nat. Univ., Canberra, ACT, Australia (Hartley, R.)
Abstract	We propose a geometric approach to 3D motion segmentation from point correspondences in three perspective views. We demonstrate that after applying a polynomial embedding to the correspondences they become related by the so-called multibody trilinear constraint and its associated multibody trifocal tensor We show how to linearly estimate the multibody trifocal tensor from point-point-point correspondences. We then show that one can estimate the epipolar lines associated with each image point from the common root of a set of univariate polynomials and the epipoles by solving a plane clustering problem in /spl Ropf//sup 3/ using GPCA. The individual trifocal tensors are then obtained from the second order derivatives of the multibody trilinear constraint. Given epipolar lines and epipoles, or trifocal tensors, we obtain an initial clustering of the correspondences, which we use to initialize an iterative algorithm that finds an optimal estimate for the trifocal tensors and the clustering of the correspondences using Expectation Maximization. We test our algorithm on real and synthetic dynamic scenes.
Sponsorship	IEEE Comput. Soc
File Size	529419
File Format	PDF
ISBN	0769521584
ISSN	10636919
DOI	10.1109/CVPR.2004.1315109
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Tensile stress Motion segmentation Computer vision Polynomials Iterative algorithms Layout Geometry Motion estimation Clustering algorithms Cameras
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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