Rigid Motion Segmentation using Randomized Voting

In this paper, we propose a novel rigid motion segmen-tation algorithm called randomized voting (RV). This algo-rithm is based on epipolar geometry, and computes a score using the distance between the feature point and the cor-responding epipolar line. This score is accumulated and utilized for final grouping. Our algorithm basically deals with two frames, so it is also applicable to the two-view motion segmentation problem. For evaluation of our algo-rithm, Hopkins 155 dataset, which is a representative test set for rigid motion segmentation, is adopted; it consists of two and three rigid motions. Our algorithm has provided the most accurate motion segmentation results among all of the state-of-the-art algorithms. The average error rate is 0.77%. In addition, when there is measurement noise, our algorithm is comparable with other state-of-the-art algo-rithms. 1