Real-time segmentation of stereo videos on a portable system with a mobile GPU
Abramov, Alexey and Pauwels, Karl and Papon, Jeremie and Wörgötter, Florentin and Dellen, Babette
IEEE Transactions on Circuits and Systems for Video Technology, vol. 22(9), pp. 1292–1305, 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.