This is the documentation for the implementation of the real-time active 3D scene segmentation presented and described in the following publication:
@InProceedings{bjorkman10,
author = {Mårten Björkman and Danica Kragic},
title = {{Active 3D Scene Segmentation and Detection of Unknown Objects}},
booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
year = "2010",
pages= {3114 - 3120}
}
It is based on an implementation of Belief Propagtion on the GPU. Therefore CUDA should preferably be installed. However, the algorithm can also run on the CPU.
The following dependencies are optional but recommended:
The following library can be included for compatability, but is not required
cd [YOUR_SOURCE_DIRECTORY]
mkdir build
cd build
cmake ..
make
cd [YOUR_SOURCE_DIRECTORY]/build
make doc
fgbgtable <image format> <disparity format> <first index> <last index> <disparity range>
Example:
cd [YOUR_SOURCE_DIRECTORY]/build
bin/fgbgsegment ../segpics/clim%04d.pgm ../segpics/dimg%04d.pgm 1 9 64