A dynamic MRF model for foreground detection on range data sequences of rotating multi-beam lidar

Csaba Benedek, Dömötör Molnár, Tamás Szirányi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this paper, we propose a probabilistic approach for foreground segmentation in 360°-view-angle range data sequences, recorded by a rotating multi-beam Lidar sensor, which monitors the scene from a fixed position. To ensure real-time operation, we project the irregular point cloud obtained by the Lidar, to a cylinder surface yielding a depth image on a regular lattice, and perform the segmentation in the 2D image domain. Spurious effects resulted by quantification error of the discretized view angle, non-linear position corrections of sensor calibration, and background flickering, in particularly due to motion of vegetation, are significantly decreased by a dynamic MRF model, which describes the background and foreground classes by both spatial and temporal features. Evaluation is performed on real Lidar sequences concerning both video surveillance and traffic monitoring scenarios.

Original languageEnglish
Title of host publicationAdvances in Depth Image Analysis and Applications - International Workshop, WDIA 2012, Selected and Invited Papers
Pages87-96
Number of pages10
DOIs
Publication statusPublished - Sep 5 2013
EventInternational Workshop on Advances in Depth Image Analysis and Applications, WDIA 2012 - Tsukuba, Japan
Duration: Nov 11 2012Nov 11 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7854 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

OtherInternational Workshop on Advances in Depth Image Analysis and Applications, WDIA 2012
CountryJapan
CityTsukuba
Period11/11/1211/11/12

Keywords

  • MRF
  • motion segmentation
  • rotating multi-beam Lidar

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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    Benedek, C., Molnár, D., & Szirányi, T. (2013). A dynamic MRF model for foreground detection on range data sequences of rotating multi-beam lidar. In Advances in Depth Image Analysis and Applications - International Workshop, WDIA 2012, Selected and Invited Papers (pp. 87-96). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7854 LNCS). https://doi.org/10.1007/978-3-642-40303-3_10