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If you know the amount of segments to extract, mean-shift segmentation via openCV k-means can do the trick, although the inclusion might be a problem to be dealt with separately. I made a post on k-means here http://answers.opencv.org/question/2628/can-opencvs-mean-shift-implementation-be-used-for/.

More info can be found in this slides: http://robots.stanford.edu/cs223b04/CS%20223-B%20L11%20Segmentation.ppt (slide 41 onwards).