Real-Time Segmentation of Stereo Videos on a Portable System With a Mobile GPU
Alexey Abramov, Karl Pauwels, Jeremie A. Papon, Florentin Wörgötter, Babette K. Dellen · IEEE Transactions on Circuits and Systems for Video Technology · 2012
In mobile robotic applications, visual information needs to be processed fast despite resource limitations of the mobile system. Here, a novel real-time framework for model-free spatiotemporal segmentation of stereo videos is presented. It combines real-time optical flow and stereo with image segmentation and runs on a portable system with an integrated mobile graphics processing unit. The system performs online, automatic, and dense segmentation of stereo videos and serves as a visual front end for preprocessing in mobile robots, providing a condensed representation of the scene that can potentially be utilized in various applications, e.g., object manipulation, manipulation recognition, visual servoing. The method was tested on real-world sequences with arbitrary motions, including videos acquired with a moving camera.