3D Beverage Container Localizer
First Claim
Patent Images
1. A method of detecting and localizing an object, comprising:
- receiving a first single view image including the object, the first single view image in a perspective projection;
mapping the single view image to a normalized image by a homography transform;
detecting first geometric features from the normalized image;
analyzing the detected first geometric features to identify the object;
generating first object information including the identity of the object; and
outputting the first object information.
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Abstract
Objects placed on a flat surface are identified and localized by using a single view image. The single view image in the perspective projection is transformed to a normalized image in a pseudo plan to view to enhance detection of the bottom or top shapes of the objects. One or more geometric features are detected from the normalized image by processing the normalized image. The detected geometric features are analyzed to determine the identity and the location the objects on the flat surface.
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Citations
22 Claims
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1. A method of detecting and localizing an object, comprising:
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receiving a first single view image including the object, the first single view image in a perspective projection; mapping the single view image to a normalized image by a homography transform; detecting first geometric features from the normalized image; analyzing the detected first geometric features to identify the object; generating first object information including the identity of the object; and outputting the first object information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computer readable storage medium structured to store instructions adapted to detect and localize an object, the instructions when executed, cause the processor to:
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receive a first single view image including the object, the first single view image in a perspective projection; map the single view image to a normalized image by a homography transform; detect first geometric features from the normalized image; analyze the detected first geometric features to identify the object; generate first object information including the identity of the object; and output the first object information. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A system for localizing and detecting an object, comprising:
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a pre-processing module adapted to receive a first single view image including the object, the first single view image in a perspective projection, the pre-processing module adapted to map the single view image to a normalized image by a homography transform; a feature extraction module adapted to detect first geometric features in the normalized image; and an object information generator adapted to detect first geometric features from the normalized image and analyzing the detected first geometric features to identify the object, the object information generator generating first object information including the identity of the object. - View Dependent Claims (18, 19, 20, 21, 22)
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Specification