Object detection and classification with fourier fans
First Claim
1. A system comprising:
- an image sensor configured to capture an image from an environment surrounding the system, the image from the environment surrounding the system including one or more keypoints;
extracting circuitry communicatively coupled to the image sensor and configured to extract at least one feature value from at least one of the one or more keypoints in the image from the environment surrounding the system;
query point evaluation circuitry communicatively coupled to the image sensor and the extracting circuitry and configured to classify an object by sampling a periodic descriptor function for a query point in the image from the environment surrounding the system to produce a sample value, the periodic descriptor function depending on the distance between at least one of the one or more keypoints and the query point in complex space, the periodic descriptor function further depending on at least one feature value extracted from at least one of the one or more keypoints in the image from the environment surrounding the system, wherein;
the periodic descriptor function is defined as;
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Abstract
An object detection and classification system includes at least one image sensor mounted on a vehicle and configured to capture an image of a portion of the environment surrounding the vehicle. The image may be stored and analyzed to detect and classify objects visible in the captured image. Keypoints are extracted from the image and evaluated according to a feature function. A new descriptor function depending on the distance in complex space between a query point and the keypoints in the image and on the feature value of the keypoints may be sampled to produce a sample value. The sample value may trigger a signal to the operator of the vehicle to respond to the object if the sample value classifies the object as satisfying a potential hazard condition.
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Citations
14 Claims
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1. A system comprising:
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an image sensor configured to capture an image from an environment surrounding the system, the image from the environment surrounding the system including one or more keypoints; extracting circuitry communicatively coupled to the image sensor and configured to extract at least one feature value from at least one of the one or more keypoints in the image from the environment surrounding the system; query point evaluation circuitry communicatively coupled to the image sensor and the extracting circuitry and configured to classify an object by sampling a periodic descriptor function for a query point in the image from the environment surrounding the system to produce a sample value, the periodic descriptor function depending on the distance between at least one of the one or more keypoints and the query point in complex space, the periodic descriptor function further depending on at least one feature value extracted from at least one of the one or more keypoints in the image from the environment surrounding the system, wherein; the periodic descriptor function is defined as; - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method comprising:
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capturing an image from an environment surrounding a system with an image sensor, the image from the environment surrounding the system having one or more keypoints; extracting at least one feature value from at least one of the one or more keypoints in the image from the environment surrounding the system; sampling a periodic descriptor function for a query point in the image from the environment surrounding the system to produce a sample value for classifying an object, the periodic descriptor function depending on the distance between at least one of the one or more keypoints and the query point in complex space, the periodic descriptor function further depending on at least one feature value extracted from at least one of the one or more keypoints in the image from the environment surrounding the system, wherein; the periodic descriptor function is defined as; - View Dependent Claims (8, 9, 10)
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11. A system comprising:
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an image sensor configured to capture an image from an environment surrounding the system, the image from the environment surrounding the system including one or more keypoints; one or more processors; and a memory storing computer-executable instructions to perform the operations of; extracting, by the processor, at least one feature value from at least one of the one or more keypoints in the image from the environment surrounding the system; sampling, by the processor, a periodic descriptor function for a query point in the image from the environment surrounding the system to produce a sample value to classify an object, the periodic descriptor function depending on the distance between at least one of the one or more keypoints and the query point in complex space, the periodic descriptor function further depending on at least one feature value extracted from at least one of the one or more keypoints in the image from the environment surrounding the system, wherein; the periodic descriptor function is defined as; - View Dependent Claims (12, 13, 14)
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Specification