Apparatus and Method for Segmenting an Image
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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.
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Citations
52 Claims
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1. (canceled)
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2. A method for performing segmentation of an image, comprising the steps of:
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assigning a unique cluster number to each pixel in an image frame, the cluster numbers being assigned in accordance with a predetermined sequence; connecting two pixels to form a larger cluster, and assigning a cluster number from one of the two unique cluster numbers to the other pixel, if it is determined that the pixels do not differ by more than a predetermined threshold amount in one or more of one or more characteristics. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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28. 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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assigning a unique cluster number to each pixel in an image frame, the cluster numbers being assigned in accordance with a predetermined sequence; connecting two pixels to form a larger cluster, and assigning a cluster number from one of the two unique cluster numbers to the other pixel, if it is determined that the pixels do not differ by more than a predetermined threshold amount in one or more of one or more characteristics. - View Dependent Claims (29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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Specification