Real-time segmentation of stereo videos on a portable system with a mobile GPU

Abstract

In mobile robotic applications, visual information needs to be processed fast despite resource limitations of the mobile system. Here a novel real-time framework for model- free spatio-temporal segmentation of stereo videos is presented. It combines real-time optical flow and stereo with image seg- mentation and runs on a portable system with an integrated mobile GPU. The system performs on-line, automatic and dense segmentation of stereo videos and serves as a visual front- end for preprocessing in mobile robots, providing a condensed representation of the scene which can potentially be utilized in various applications, e.g., object manipulation, manipulation recognition, visual servoing. The method was tested on real-world sequences with arbitrary motions including videos acquired with a moving camera.