Static and Dynamic Image Segmentation and its applications

Static and Dynamic Image Segmentation and its applications in Vision-Based Control CS 294 -6 Advanced Topics in Computer Vision and Robotics

Vision-Based Landing of a UAV 2

Vision-based control of multiple vehicles Pursuit-Evasion Games Omni-based formation control 3

with a. ames Intensity-based Image Segmentation n n Apply GPCA to histogram or to eigenvector the of similarity matrix n=3 groups n n n Black Gray White n n=3 groups n n n Black Gray White 4

with a. ames Intensity-based Image Segmentation Time: 42 (sec) 70 (sec) 5

with a. ames Intensity-based Image Segmentation 36 (sec) 76 (sec) 3 (sec) 20 (sec) 35 (sec) 7

Texture-based Image Segmentation 8

Texture-based Image Segmentation 9

Texture-based Image Segmentation 10

Motion Segmentation: 2 views n n A static scene: multiple 2 D motion models n with s. soatto A dynamic scene: multiple 3 D motion models Given an image sequence, determine n n n Number of motion models (affine, Euclidean, etc. ) Motion model: affine (2 D) or Euclidean (3 D) Segmentation: model to which each pixel belongs 11

Segmentation of linear motions 12

Segmentation of linear motions n Transparent motion n Outline of a hand behind a lace curtain 13

Motion-based Image Segmentation 14

Experimental Results 15

Experimental Results 16

with o. shakernia Motion-based Image Segmentation n Omnidirectional Vision 17