Stain and trash detection systems and methods
First Claim
Patent Images
1. A method comprising:
- receiving a clean image of a vehicle interior of a vehicle;
receiving a second image of the vehicle interior after a passenger has occupied the vehicle;
quantizing the clean image and the second image to reduce noise by reducing pixels of the clean image and the second image to three levels including one black level, one gray level, and one white level according to intensity of the pixels to obtain a quantized clean image and a quantized second image;
identifying differences between the quantized clean image and the quantized second image;
identifying a contour in the identified differences; and
classifying an area defined by the contour as one of a stain, dirt, trash, or another item;
wherein the vehicle is an autonomous vehicle;
wherein the intensities of the pixels of the clean image and the second image have a first range of values; and
wherein quantizing the clean image and the second image to reduce noise comprises;
replacing pixels in the clean image and the second image having intensities in a second range of values with the one white level;
replacing pixels in the clean image and the second image having intensities in a third range of values with the one gray level; and
replacing pixels in the clean image and the second image having intensities in a fourth range of values with the one black level; and
wherein the second range of values is higher than the third range of values and the third range of values is higher than the fourth range of values.
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Abstract
Example stain and trash detection systems and methods are described. In one implementation, a method receives a clean image of a vehicle interior and a second image of the vehicle interior after a passenger has occupied the vehicle. The method quantizes the clean image and the second image to reduce noise and identifies differences between the clean image and the second image. Additionally, the method identifies at least one contour in the identified differences and classifies an area defined by the contour as one of a stain, dirt, trash, or another item.
58 Citations
12 Claims
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1. A method comprising:
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receiving a clean image of a vehicle interior of a vehicle; receiving a second image of the vehicle interior after a passenger has occupied the vehicle; quantizing the clean image and the second image to reduce noise by reducing pixels of the clean image and the second image to three levels including one black level, one gray level, and one white level according to intensity of the pixels to obtain a quantized clean image and a quantized second image; identifying differences between the quantized clean image and the quantized second image; identifying a contour in the identified differences; and classifying an area defined by the contour as one of a stain, dirt, trash, or another item; wherein the vehicle is an autonomous vehicle; wherein the intensities of the pixels of the clean image and the second image have a first range of values; and wherein quantizing the clean image and the second image to reduce noise comprises; replacing pixels in the clean image and the second image having intensities in a second range of values with the one white level; replacing pixels in the clean image and the second image having intensities in a third range of values with the one gray level; and replacing pixels in the clean image and the second image having intensities in a fourth range of values with the one black level; and wherein the second range of values is higher than the third range of values and the third range of values is higher than the fourth range of values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus comprising:
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a communication manager configured to receive a clean image of a vehicle interior of a vehicle and configured to receive a second image of the vehicle interior after a passenger has occupied the vehicle; an image quantization module configured to quantize the clean image and the second image by reducing pixels of the clean image and the second image to three levels including one black level, one gray level, and one white level according to intensity of the pixels to obtained a quantized clean image and a quantized second image; an image processing module configured to identify differences between the quantized clean image and the quantized second image; a contour identification module configured to identify a contour in the identified differences; and a classification module configured to classify an area defined by the contour as one of a stain, dirt, trash, or another item wherein the image quantization module is configured to quantize the clean image and the second image by; replacing pixels in the clean image and the second image having intensities in a first range of values with the one white level; replacing pixels in the clean image and the second image having intensities in a second range of values with the one gray level; and replacing pixels in the clean image and the second image having intensities in a third range of values with the one black level; and wherein the first range of values is higher than the second range of values and the second range of values is higher than the third range of values. - View Dependent Claims (11, 12)
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Specification