3D OBJECT SEGMENTATION
First Claim
1. A method for segmenting objects from a real-world environment, the method comprising:
- extracting a first plurality of planar segments from image frame depth data;
identifying, from the extracted first plurality of planar segments, one or more first candidate segments comprising a non-planar object surface;
updating a confidence of a preexisting candidate segment in response to determining correspondence with the one or more first candidate segments;
determining the preexisting candidate segment comprises a surface of a first preexisting non-planar object hypothesis; and
updating a confidence of the first preexisting non-planar object hypothesis in response to determining correspondence with the one or more first candidate segments.
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Accused Products
Abstract
Disclosed are a system, apparatus, and method for 3D object segmentation within an environment. Image frames are obtained from one or more depth cameras or at different times and planar segments are extracted from data obtained from the image frames. Candidate segments that comprise a non-planar object surface are identified from the extracted planar segments. In one aspect, certain extracted planar segments are identified as comprising a non-planar object surface, and are referred to as candidate segments. Confidence of preexisting candidate segments are adjusted in response to determining correspondence with a candidate segment. In one aspect, one or more preexisting candidate segments are determined to comprise a surface of a preexisting non-planar object hypothesis. Confidence in the non-planar object hypothesis is updated in response to determining correspondence with a candidate segment.
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Citations
30 Claims
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1. A method for segmenting objects from a real-world environment, the method comprising:
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extracting a first plurality of planar segments from image frame depth data; identifying, from the extracted first plurality of planar segments, one or more first candidate segments comprising a non-planar object surface; updating a confidence of a preexisting candidate segment in response to determining correspondence with the one or more first candidate segments; determining the preexisting candidate segment comprises a surface of a first preexisting non-planar object hypothesis; and updating a confidence of the first preexisting non-planar object hypothesis in response to determining correspondence with the one or more first candidate segments. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A machine readable non-transitory storage medium having stored therein program instructions that are executable by a processor to:
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extract a first plurality of planar segments from image frame depth data; identify, from the extracted first plurality of planar segments, one or more first candidate segments comprising a non-planar object surface; update a confidence of a preexisting candidate segment in response to determining correspondence with the one or more first candidate segments; determine the preexisting candidate segment comprises a surface of a first preexisting non-planar object hypothesis; and update a confidence of the first preexisting non-planar object hypothesis in response to determining correspondence with the one or more first candidate segments. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A device to provide 3D object detection, the device comprising:
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memory; and a processor coupled to the memory and configured to; extract a first plurality of planar segments from image frame depth data; identify, from the extracted first plurality of planar segments, one or more first candidate segments comprising a non-planar object surface; update a confidence of a preexisting candidate segment in response to determining correspondence with the one or more first candidate segments; determine the preexisting candidate segment comprises a surface of a first preexisting non-planar object hypothesis; and update a confidence of the first preexisting non-planar object hypothesis in response to determining correspondence with the one or more first candidate segments. - View Dependent Claims (24, 25, 26, 27)
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28. An apparatus for performing 3D object detection, the apparatus comprising:
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means for identifying, from the first candidate segments, one or more second candidate segments without correspondence to any preexisting candidate segments; means for determining correspondence between the one or more second candidate segments and a second non-planar object hypothesis; means for updating a confidence in the second non-planar object hypothesis in response to determining correspondence between the one or more second candidate segments and a second non-planar object hypothesis; and means for adding the one or more second candidate segments to a list of segments comprising the second non-planar object hypothesis. - View Dependent Claims (29, 30)
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Specification