An approach to figure-ground segmentation based on a 2-dimensional histogram in feature space is presented. The histogram
is then analyzed with a peak-finding algorithm designed with real-time performance in mind. The most significant peaks in
the histogram are back-projected to the image to produce an object mask.
The method is applied to segmentation based on a 2-D color space and also on a combination of motion and stereo disparities.
Experiments with a system grabbing images direct from a CCD-camera with real-time performance having typical frame-rates of
about 10 Hz is presented.
Keywords real-time - image motion - segmentation - cue-integration