Recovery of Egomotion and Segmentation of Independent Object Motion Using the EM Algorithm
W. James MacLean, Allan D. Jepson, Richard C. Frecker · 1994
This paper examines the use of the EM algorithm to perform motion segmentation on image sequences that contain independent object motion. The input data are linear constraints on 3-D translational motion and bilinear constraints on 3-D translation and rotation, derived from computed optical flow using subspace methods. The problems of outlier detection, deciding how many processes, and the initial guesses for the EM algorithm are considered. Results obtained from an image sequence are presented. 1 Introduction In order for an observer to navigate in its environment, it is important that the observer can detect other independently moving objects and avoid collisions. The motion of the observer complicates this task. For the purpose of this paper we divide image motion into two categories: egomotion and motion due to independent moving objects. Egomotion is defined as the image motion induced by an observer moving through a static environment. Motion due to independently moving objects ...