Recognition-based object segmentation of a 3-dimensional image
First Claim
1. A processor-implemented method for 3-Dimensional (3D) segmentation of objects, the method comprising:
- receiving, by a processor, a plurality of 3D image frames of a scene, wherein each of the 3D image frames is associated with a pose of a depth camera that generated the 3D image frames;
detecting, by the processor, an object in each of the 3D image frames based on object recognition;
associating, by the processor, a label with the detected object, the label generated from the object recognition;
calculating, by the processor, a 2-Dimensional (2D) bounding box containing the detected object, and a 3D location of the center of the 2D bounding box;
matching, by the processor, the detected object to an existing object boundary set created from a previously received 3D image frame, the matching based on the label and the 3D location of the center of the 2D bounding box; and
in response to a failure of the matching, creating, by the processor, a new object boundary set associated with the detected object.
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Abstract
Techniques are provided for segmentation of objects in a 3D image of a scene. An example method may include receiving, 3D image frames of a scene. Each of the frames is associated with a pose of a depth camera that generated the 3D image frames. The method may also include detecting the objects in each of the frames based on object recognition; associating a label with the detected object; calculating a 2D bounding box around the object; and calculating a 3D location of the center of the bounding box. The method may further include matching the detected object to an existing object boundary set, created from a previously received image frame, based on the label and the location of the center of the bounding box, or, if the match fails, creating a new object boundary set associated with the detected object.
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Citations
25 Claims
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1. A processor-implemented method for 3-Dimensional (3D) segmentation of objects, the method comprising:
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receiving, by a processor, a plurality of 3D image frames of a scene, wherein each of the 3D image frames is associated with a pose of a depth camera that generated the 3D image frames; detecting, by the processor, an object in each of the 3D image frames based on object recognition; associating, by the processor, a label with the detected object, the label generated from the object recognition; calculating, by the processor, a 2-Dimensional (2D) bounding box containing the detected object, and a 3D location of the center of the 2D bounding box; matching, by the processor, the detected object to an existing object boundary set created from a previously received 3D image frame, the matching based on the label and the 3D location of the center of the 2D bounding box; and in response to a failure of the matching, creating, by the processor, a new object boundary set associated with the detected object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for 3-Dimensional (3D) segmentation of objects, the system comprising:
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an object detection circuit to;
detect an object in each of a plurality of 3D image frames of a scene based on object recognition, wherein the plurality of 3D image frames are captured by a depth camera, each of the 3D image frames being associated with a pose of the depth camera;
associate a label with the detected object, the label generated by the object detection circuit based on the object recognition; and
calculate a 2-Dimensional (2D) bounding box containing the detected object and a 3D location of the center of the 2D bounding box;an object boundary set matching circuit to match the detected object to an existing object boundary set created from a previously received 3D image frame, the matching based on the label and the 3D location of the center of the 2D bounding box; and an object boundary set creation circuit to create, in response to a failure of the matching, a new object boundary set associated with the detected object. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. At least one non-transitory computer readable storage medium having instructions encoded thereon that, when executed by one or more processors, result in the following operations for 3-Dimensional (3D) segmentation of objects, the operations comprising:
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receiving, a plurality of 3D image frames of a scene, wherein each of the 3D image frames is associated with a pose of a depth camera that generated the 3D image frames; detecting an object in each of the 3D image frames based on object recognition; associating a label with the detected object, the label derived from the object recognition; calculating a 2-Dimensional (2D) bounding box containing the detected object, and a 3D location of the center of the 2D bounding box; matching the detected object to an existing object boundary set created from a previously received 3D image frame, the matching based on the label and the 3D location of the center of the 2D bounding box; and creating in response to a failure of the matching, a new object boundary set associated with the detected object. - View Dependent Claims (20, 21, 22, 25)
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23. The computer readable storage medium of 19, further comprising:
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detecting surface planes in the scene; calculating an intersection of the detected surface plane with the object boundary set; calculating a ratio of pixels in the intersection to pixels in the detected surface plane; and if the ratio is less than a threshold value, removing the pixels in the detected surface plane from the object boundary set. - View Dependent Claims (24)
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Specification