Methods, Systems and Apparatus for Segmenting Objects
First Claim
1. A method comprising:
- receiving, at a controller, from one or more sensors, a three-dimensional (3D) representation of a scene that includes an object represented by a 3D model;
determining, at the controller, an orientation of a 2D image in the 3D representation by matching the 2D image with a corresponding region of the 3D representation;
determining, at the controller, a first portion of the 3D representation that corresponds to a subset of the 3D model of the object from;
the orientation of the 2D image in the 3D representation; and
predetermined matching data representative of a matching of the 2D image with a respective corresponding region of the 3D model, each of the 3D model, the 2D image, and the predetermined matching data stored in a memory accessible to the controller; and
segmenting, at the controller, the first portion of the 3D representation from a second portion of the 3D representation.
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Abstract
Methods, systems and apparatus for segmenting objects are provided. A controller: receives, from one or more sensors, a 3D representation of a scene that includes an object represented by a 3D model; determines an orientation of a 2D image in the 3D representation by matching the 2D image with a corresponding region of the 3D representation; determines a first portion of the 3D representation that corresponds to a subset of the 3D model of the object from: the orientation of the 2D image in the 3D representation; and predetermined matching data representative of a matching of the 2D image with a respective corresponding region of the 3D model, each of the 3D model, the 2D image, and the predetermined matching data stored in a memory accessible to the controller; segments the first portion of the 3D representation from a second portion of the 3D representation.
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Citations
20 Claims
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1. A method comprising:
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receiving, at a controller, from one or more sensors, a three-dimensional (3D) representation of a scene that includes an object represented by a 3D model; determining, at the controller, an orientation of a 2D image in the 3D representation by matching the 2D image with a corresponding region of the 3D representation; determining, at the controller, a first portion of the 3D representation that corresponds to a subset of the 3D model of the object from; the orientation of the 2D image in the 3D representation; and predetermined matching data representative of a matching of the 2D image with a respective corresponding region of the 3D model, each of the 3D model, the 2D image, and the predetermined matching data stored in a memory accessible to the controller; and segmenting, at the controller, the first portion of the 3D representation from a second portion of the 3D representation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A device comprising:
a controller, and a communication interface, the controller configured to; receive, using the communication interface, from one or more sensors, a three-dimensional (3D) representation of a scene that includes an object represented by a 3D model; determine an orientation of a 2D image in the 3D representation by matching the 2D image with a corresponding region of the 3D representation; determine a first portion of the 3D representation that corresponds to a subset of the 3D model of the object from; the orientation of the 2D image in the 3D representation; and predetermined matching data representative of a matching of the 2D image with a respective corresponding region of the 3D model, each of the 3D model, the 2D image, and the predetermined matching data stored in a memory accessible to the controller; and segment the first portion of the 3D representation from a second portion of the 3D representation. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A non-transitory computer-readable medium storing a computer program, wherein
execution of the computer program causes a machine to perform operations comprising: -
receiving, at a controller, from one or more sensors, a three-dimensional (3D) representation of a scene that includes an object represented by a 3D model; determining, at the controller, an orientation of a 2D image in the 3D representation by matching the 2D image with a corresponding region of the 3D representation; determining, at the controller, a first portion of the 3D representation that corresponds to a subset of the 3D model of the object from;
the orientation of the 2D image in the 3D representation; and
predetermined matching data representative of a matching of the 2D image with a respective corresponding region of the 3D model, each of the 3D model, the 2D image, and the predetermined matching data stored in a memory accessible to the controller; andsegmenting, at the controller, the first portion of the 3D representation from a second portion of the 3D representation.
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Specification