Event-based cameras are sensitive to brightness changes and can capture
rich temporal information with very high temporal resolution, which has
great potential for motion segmentation of moving objects. Under static
background, events are only triggered by motion of objects, thereby
moving objects can be easily segmented. However, in many real-world
applications, events are also be triggered by the motion of camera or
background and submerge the ones corresponding to moving objects. In
this letter, we propose an event-based motion segmentation method to
segment moving small objects in events obtained from the wild. First,
motion estimation is performed to align the events triggered by the
background. Then, candidate events corresponding to moving objects or
moving backgrounds are detected. Finally, motion information is adopted
to segment the events of moving small objects from the ones triggered by
the background. In addition, we develop the first dataset for
event-based motion segmentation of small objects, namely EMSS.
Experimental results demonstrate the effectiveness of our method and
show that our method can achieve robust motion segmentation of small
moving objects in the wild.