Apparatus and method for segmenting an image
First Claim
1. A method for performing segmentation of an image, comprising the steps of:
- acquiring one or more images by an image sensor;
classifying each pixel in the acquired one or more images as one of a background pixel, a temporally stable pixel, and a temporally unstable pixel as compared with a prior image frame;
assigning a unique cluster number only to each pixel in the acquired one or more images by a computer processor that are determined to be temporally unstable, the cluster numbers being assigned in accordance with a predetermined sequence;
connecting a first of the pixels determined to be temporally unstable with a second of the pixels determined to be temporally unstable to form a larger cluster and assigning a cluster number from the first of the pixels to the second of the pixels by the processor, if it is determined that the pixels do not differ by more than a predetermined threshold with respect to one or more characteristics; and
connecting the larger cluster with a cluster comprising temporally stable pixels if it is determined that the pixels in the larger cluster do not differ from the pixels in the cluster comprising the temporally stable pixels by more than a predetermined threshold with respect to one or more characteristics.
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Abstract
A method and system for segmenting a plurality of images. The method comprises the steps of segmenting the image through a novel clustering technique that is, generating a composite depth map including temporally stable segments of the image as well as segments in subsequent images that have changed. These changes may be determined by determining one or more differences between the temporally stable depth map and segments included in one or more subsequent frames. Thereafter, the portions of the one or more subsequent frames that include segments including changes from their corresponding segments in the temporally stable depth map are processed and are combined with the segments from the temporally stable depth map to compute their associated disparities in one or more subsequent frames. The images may include a pair of stereo images acquired through a stereo camera system at a substantially similar time.
250 Citations
30 Claims
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1. A method for performing segmentation of an image, comprising the steps of:
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acquiring one or more images by an image sensor; classifying each pixel in the acquired one or more images as one of a background pixel, a temporally stable pixel, and a temporally unstable pixel as compared with a prior image frame; assigning a unique cluster number only to each pixel in the acquired one or more images by a computer processor that are determined to be temporally unstable, the cluster numbers being assigned in accordance with a predetermined sequence; connecting a first of the pixels determined to be temporally unstable with a second of the pixels determined to be temporally unstable to form a larger cluster and assigning a cluster number from the first of the pixels to the second of the pixels by the processor, if it is determined that the pixels do not differ by more than a predetermined threshold with respect to one or more characteristics; and connecting the larger cluster with a cluster comprising temporally stable pixels if it is determined that the pixels in the larger cluster do not differ from the pixels in the cluster comprising the temporally stable pixels by more than a predetermined threshold with respect to one or more characteristics. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A computer program stored in a non-transitory storage medium for performing segmentation of an image, the computer program, when implemented on a processor, causing the processor to perform the steps of:
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receiving one or more images from an image sensor; classifying each pixel in the received one or more images as one of a background pixel, a temporally stable pixel, and a temporally unstable pixel as compared with a prior image frame; assigning a unique cluster number only to each pixel in the received one or more images that is determined to be temporally unstable, the cluster numbers being assigned in accordance with a predetermined sequence; connecting a first of the pixels determined to be temporally unstable with a second of the pixels determined to be temporally unstable to form a larger cluster and assigning a cluster number from the first of the pixels to the second of the pixels, if it is determined that the pixels do not differ by more than a predetermined threshold amount in accordance with one or more characteristics thereof; and connecting the larger cluster with a cluster comprising temporally stable pixels if it is determined that the pixels in the larger cluster do not differ from the pixels in the cluster comprising the temporally stable pixels by more than a predetermined threshold with respect to one or more characteristics. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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Specification