Range segmentation using visibility constraints

Visibility constraints can aid the segmentation of foreground objects observed with multiple range images. In our approach, points are defined as foreground if they can be determined to occlude some empty space in the scene. We present an efficient algorithm to estimate foreground points in each range view using explicit epipolar search. In cases where the background pattern is stationary, we show how visibility constraints from other views can generate virtual background values at points with no valid depth in the primary view. We demonstrate the performance of both algorithms for detecting people in indoor office environments.