Object detection and identification
First Claim
Patent Images
1. A system comprising:
- one or more sensors to capture a first image of an environment and a second image of the environment, the first image depicting a depth of one or more objects within the environment;
memory;
one or more processors; and
one or more computer-executable instructions maintained in the memory and executable by the one or more processors to;
determine, from the first image, a set of points that corresponds to an object depicted in the first image;
determine, based at least partly on the set of points, a portion of the second image that depicts the object, the portion being a subset of an entirety of the second image and including a boundary that surrounds the object;
determine pixel data associated with the portion of the second image; and
determine, based at least partly on the pixel data, one or more characteristics associated with the object.
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Abstract
A two-dimensional (2D) image and a three-dimensional (3D) of an environment may be captured. Upon identifying a location and/or contour of an object from the 3D image, the object from the 3D image may be mapped onto the 2D image. The object, including its location and contour, may be identified from the 2D image. Based at least partly on a comparison between the object from the 3D image and the object from the 2D image, a disparity may be calculated. The location and contour of the object may be determined when it is determined that the disparity is less than or equal to a predetermined threshold. Otherwise, the object from the 3D image may be remapped onto the 2D image.
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Citations
20 Claims
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1. A system comprising:
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one or more sensors to capture a first image of an environment and a second image of the environment, the first image depicting a depth of one or more objects within the environment; memory; one or more processors; and one or more computer-executable instructions maintained in the memory and executable by the one or more processors to; determine, from the first image, a set of points that corresponds to an object depicted in the first image; determine, based at least partly on the set of points, a portion of the second image that depicts the object, the portion being a subset of an entirety of the second image and including a boundary that surrounds the object; determine pixel data associated with the portion of the second image; and determine, based at least partly on the pixel data, one or more characteristics associated with the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method comprising:
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capturing, by a first camera, a first image that depicts a depth of one or more objects within an environment; capturing, by a second camera, a second image; determining, from the first image, a set of points that corresponds to an object depicted in the first image; determining, based at least partly on the set of points, that a boundary of the object depicted in the first image is incomplete; determining, based at least partly on the set of points and the boundary of the object depicted in the first image being incomplete, a second set of points that corresponds to the object depicted in the second image; and determining, based at least partly on the second set of points, one or more characteristics associated with the object. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A method comprising:
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determining, from a first image that depicts a depth of one or more objects within an environment, a set of points that corresponds to an object depicted in the first image; determining, based at least partly on the set of points, a portion of the second image that includes a second set of points that corresponds to the object depicted in the second image, the portion being a subset of an entirety of the second image and including a boundary that surrounds the object; determining, based at least partly on the second set of points, one or more characteristics associated with the object; and determining, based at least partly on the one or more characteristics, an identity of the object. - View Dependent Claims (18, 19, 20)
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Specification