Rectangular Table Detection Using Hybrid RGB and Depth Camera Sensors
First Claim
1. A method of localizing an object having a flat surface, comprising:
- receiving a depth image comprising image pixels representing distances between a depth sensor and parts of objects in the depth image;
determining a candidate area in the depth image by processing the depth image, the candidate area representing a portion of the depth image that likely includes the flat surface;
receiving a color image captured by a camera, the color image covering the candidate area in the depth image; and
detecting the flat surface of the object in the candidate area of the color image by detecting and selecting geometric features from the color image that outlines the flat surface.
1 Assignment
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Accused Products
Abstract
Objects having a flat surface such as a table are detected by processing a depth image and a color image. A mask indicating an area likely to include an object having the flat surface is generated by processing a depth image including the depth information. A color image corresponding to the depth image is then cropped using the mask to detect a portion of the color image that likely include the object having the flat surface. Geometric features of the cropped color image such as lines are then detected to determine the location and orientation of the object having the flat surface. A subset of the detected geometric features is selected as outlines of the flat surface.
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Citations
20 Claims
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1. A method of localizing an object having a flat surface, comprising:
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receiving a depth image comprising image pixels representing distances between a depth sensor and parts of objects in the depth image; determining a candidate area in the depth image by processing the depth image, the candidate area representing a portion of the depth image that likely includes the flat surface; receiving a color image captured by a camera, the color image covering the candidate area in the depth image; and detecting the flat surface of the object in the candidate area of the color image by detecting and selecting geometric features from the color image that outlines the flat surface. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A computer program product stored in a computer readable storage medium adapted to detect an object having a flat surface, the computer readable storage medium structured to store instructions, when executed cause the processor to:
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receive a depth image comprising image pixels representing distances between a depth sensor and parts of objects in the depth image; determine a candidate area in the depth image by processing the depth image, the candidate area representing a portion of the depth image that likely includes the flat surface; receive a color image captured by a camera, the color image covering the candidate area in the depth image; and detect the flat surface of the object in the candidate area of the color image by detecting and selecting geometric features from the color image that outlines the flat surface. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system for localizing an object having a flat surface, comprising:
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a depth image processing module configured to receive a depth image comprising image pixels representing distances between a depth sensor and parts of objects in the depth image, the depth image processing module determining a candidate area in the depth image by processing the depth image, the candidate area representing a portion of the depth image that likely includes the flat surface; and a color image processing module operatively coupled to the depth image processing module, the color image processing module configured to receive a color image captured by a camera, the color image covering the candidate area in the depth image, the color image processing module configured to detect the flat surface of the object in the candidate area of the color image by detecting geometric features from the color image and selecting geometric features that outlines the flat surface. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification