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US 8,941,726 B2Granted
Method and system for segmenting moving objects from images using foreground extraction
AssigneeMitsubishi Electric Research Laboratories, Inc.
InventorsTim K. Marks, Ashok Veeraraghavan, Yuichi Taguchi
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Abstract
A set of images is acquired of a scene by a camera. The scene includes a moving object, and a relative difference of a motion of the camera and a motion of the object is substantially zero. Statistical properties of pixels in the images are determined, and a statistical method is applied to the statistical properties to identify pixels corresponding to the object.
Claims25
A method for extracting pixels from a set of images, comprising a processor for performing steps of the method, comprising the steps of:
- acquiring the set of images of a scene with a camera having motion with respect to the scene, wherein the scene includes an object having motion with respect to the scene, wherein the motion of the object and the motion of the camera are substantially identical such that a relative difference of the motion of the camera and the motion of the object is substantially zero, in both translation location and angular orientation, while acquiring the set of images, and wherein the object is stationary with respect to the camera, in both translation location and angular orientation, while acquiring the set of images;
- determining statistical properties of pixels in the set of images, wherein the statistical properties measure spatial variations of the pixels, wherein the determining further comprises classifying the pixels by thresholding the spatial variations of the pixels, and wherein the camera is mounted on a robot arm holding the object using an end effector;
- and
- applying a statistical method to the statistical properties to identify the pixels corresponding to the object.
1 more element
A system for extracting pixels from a set of images, comprising:
- a camera configured to acquire the set of images of a scene, wherein the camera has motion with respect to the scene, wherein the scene includes an object having motion with respect to the scene, wherein the motion of the object and the motion of the camera are substantially identical such that a relative difference of the motion of the camera and the motion of the object is substantially zero, in both translation location and angular orientation, while acquiring the set of images, and wherein the object is stationary with respect to the camera, in both translation location and angular orientation, while acquiring the set of images;
- means for determining statistical properties of pixels in the set of images, wherein the statistical properties measure spatial variations of the pixels, wherein the determining further comprises classifying the pixels by thresholding the spatial variations of the pixels, and wherein the camera is mounted on a robot arm holding the object using an end effector;
- and
- means for applying a statistical method to the statistical properties to identify the pixels corresponding to the object.
1 more element
Dependencies are inferred from the claim text.