Rigid Motion Segmentation Using Randomized Voting

Abstract

In this paper, we propose a novel rigid motion segmentation algorithm called randomized voting (RV). This algorithm is based on epipolar geometry, and computes a score using the distance between the feature point and the corresponding epipolar line. This score is accumulated and utilized for final grouping. Our algorithm basically deals with two frames, so it is also applicable to the two-view motion segmentation problem. For evaluation of our algorithm, Hopkins 155 dataset, which is a representative test set for rigid motion segmentation, is adopted; it consists of two and three rigid motions. Our algorithm has provided the most accurate motion segmentation results among all of the state-of-the-art algorithms. The average error rate is 0.77%. In addition, when there is measurement noise, our algorithm is comparable with other state-of-the-art algorithms.