HIGH-PERFORMANCE PLANE DETECTION WITH DEPTH CAMERA DATA
First Claim
1. A method, comprising, processing depth data of an image to determine a plane, in which the depth data includes indexed rows and columns of pixels and a depth value for each pixel, including using a plurality of strips containing pixels, finding values for each strip that represent how well that strip'"'"'s pixels fit a plane formulation based upon depth values and pixel locations in the depth data corresponding to the strip, maintaining the values for at least some strips that indicate a plane based on whether the values meet an error threshold indicative of a plane, and associating sets of the maintained values with sets of pixels in the depth data.
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Abstract
The subject disclosure is directed towards detecting planes in a scene using depth data of a scene image, based upon a relationship between pixel depths, row height and two constants. Samples of a depth image are processed to fit values for the constants to a plane formulation to determine which samples indicate a plane. A reference plane may be determined from those samples that indicate a plane, with pixels in the depth image processed to determine each pixel'"'"'s relationship to the plane based on the pixel'"'"'s depth, location and associated fitted values, e.g., below the plane, on the plane or above the plane.
57 Citations
20 Claims
- 1. A method, comprising, processing depth data of an image to determine a plane, in which the depth data includes indexed rows and columns of pixels and a depth value for each pixel, including using a plurality of strips containing pixels, finding values for each strip that represent how well that strip'"'"'s pixels fit a plane formulation based upon depth values and pixel locations in the depth data corresponding to the strip, maintaining the values for at least some strips that indicate a plane based on whether the values meet an error threshold indicative of a plane, and associating sets of the maintained values with sets of pixels in the depth data.
- 16. A system comprising, plane extraction logic configured to produce plane data for a scene, the plane extraction logic configured to input frames of depth data comprising pixels in which each pixel has a depth value, column index and row index, process the frame data to compute pairs of values for association with the pixels, in which for each pixel, a pair of values for the pixel, the depth value of the pixel, and the row or column index of the pixel indicate a relationship of that pixel to a reference plane.
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19. One or more machine-readable storage media or logic having executable instructions, which when executed perform steps, comprising:
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processing strips of pixel depth values, including for each strip, finding fitted values that fit a plane formula based upon row height and depth data for pixels of the strip; eliminating the fitted values for any strip having pixels that do not correspond to a plane based upon a threshold evaluation that distinguishes planar strips from non-planar strips; determining from non-eliminated strips which of the non-eliminated strips are likely on a reference plane; and using the fitted values of the strips that are likely on the reference plane to associate a set of fitted values with each column of pixels. - View Dependent Claims (20)
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Specification