Interactive Learning for Point-Cloud Motion Segmentation

Abstract

Segmenting a moving foreground (fg) from its background (bg) is a fundamental step in many Machine Vision and Computer Graphics applications. Nevertheless, hardly any attempts have been made to tackle this problem in dynamic 3D scanned scenes. Scanned dynamic scenes are typically challenging due to noise and large missing parts. Here, we present a novel approach for motion segmentation in dynamic point-cloud scenes designed to cater to the unique properties of such data. Our key idea is to augment fg/bg classification with an active learning framework by refining the segmentation process in an adaptive manner. Our method initially classifies the scene points as either fg or bg in an un-supervised manner. This, by training discriminative RBF-SVM classifiers on automatically labeled, high-certainty fg/bg points. Next, we adaptively detect unreliable classification regions (i.e. where fg/bg separation is uncertain), locally add more training examples to better capture the motion in these areas, and re-train the classifiers to fine-tune the segmentation. This not only improves segmentation accuracy, but also allows our method to perform in a coarse-to-fine manner, thereby efficiently process high-density point-clouds. Additionally, we present a unique interactive paradigm for enhancing this learning process, by using a manual editing tool. The user explicitly edits the RBF-SVM decision borders in unreliable regions in order to refine and correct the classification. We provide extensive qualitative and quantitative experiments on both real (scanned) and synthetic dynamic scenes.