Efficient Hierarchical Graph-Based Segmentation of RGBD Videos

Steven Hickson, Stan Birchfield, Irfan Essa, Henrik Christensen; The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2014, pp. 344-351


We present an efficient and scalable algorithm for segmenting 3D RGBD point clouds by combining depth, color, and temporal information using a multistage, hierarchical graph-based approach. Our algorithm processes a moving window over several point clouds to group similar regions over a graph, resulting in an initial over-segmentation. These regions are then merged to yield a dendrogram using agglomerative clustering via a minimum spanning tree algorithm. Bipartite graph matching at a given level of the hierarchical tree yields the final segmentation of the point clouds by maintaining region identities over arbitrarily long periods of time. We show that a multistage segmentation with depth then color yields better results than a linear combination of depth and color. Due to its incremental processing, our algorithm can process videos of any length and in a streaming pipeline. The algorithm's ability to produce robust, efficient segmentation is demonstrated with numerous experimental results on challenging sequences from our own as well as public RGBD data sets.

Related Material

author = {Hickson, Steven and Birchfield, Stan and Essa, Irfan and Christensen, Henrik},
title = {Efficient Hierarchical Graph-Based Segmentation of RGBD Videos},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2014}