A method based on 3D videos is proposed for multi-target segmentation and tracking with a moving viewing system. A spatiotemporal energy functional is built up to perform motion segmentation and estimation simultaneously. To overcome the limitation of the local minimum problem with the level set method, a convex relaxation method is applied to the 3D spatiotemporal segmentation model. The relaxed convex model is independent of the initial condition. A primal-dual algorithm is used to improve computational efficiency. Several indoor experiments show the validity of the proposed method.
