  We propose a novel 3D segmentation method for RBGD stream data to deal with
3D object segmentation task in a generic scenario with frequent object
interactions. It mainly contributes in two aspects, while being generic and not
requiring initialization: firstly, a novel tree structure representation for
the point cloud of the scene is proposed. Then, a dynamic manangement mechanism
for connected component splits and merges exploits the tree structure
representation.
