Efficient multi-scale plane extraction based RGBD video segmentation

Abstract

To improve the robustness and efficiency of RGBD video segmentation, we propose a novel video segmentation method combining multi-scale plane extraction and hierarchical graph-based video segmentation. Firstly, to reduce depth data noise, we extract plane structures of 3D RGBD point clouds in three levels including voxel, pixel and neighborhood with geometry and color features. To solve uneven distribution of depth data and object occlusion problem, we further propose multi-scale voxel based plane fusion algorithm and use amodal completion strategy to improve plane extraction performance. Then hierarchical graph-based RGBD video segmentation is used to segment the rest of the non-plane pixels. Finally, we fuse above plane extraction and video segmentation results to get final RGBD video scene segmentation results. The qualitative and quantitative results of plane extraction and RGBD scene video segmentation show the effectiveness of proposed methods.