MULTI-SENSOR OBJECT RECOGNITION SYSTEM AND METHOD
First Claim
1. A method of object detection in an imaging controller, comprising:
- obtaining a set of images depicting overlapping regions of an area containing a plurality of objects;
each of the set of images including a plurality of input object indicators defined by respective (i) input bounding boxes, (ii) input confidence level values, and (iii) object identifiers;
identifying candidate subsets of input object indicators in adjacent ones of the set of images, each candidate subset having input bounding boxes that overlap in a common frame of reference, and a common object identifier;
adjusting the input confidence level values upwards from initial values for each input object indicator in the candidate subsets;
selecting clusters of the input object indicators, the input object indicators of each cluster satisfying a minimum input confidence threshold, having a common object identifier, and having a degree of overlap that satisfies a predefined threshold; and
detecting an object by generating a single output object indicator for each cluster, the output object indicator having (i) an output bounding box, (ii) an output confidence level value, and (iii) the common object identifier.
1 Assignment
0 Petitions
Accused Products
Abstract
A method of object detection includes obtaining a set of images depicting overlapping regions of an area containing a plurality of objects. Each image includes input object indicators defined by input bounding boxes, input confidence level values, and object identifiers. The method includes identifying candidate subsets of input object indicators in adjacent images. Each candidate subset has input overlapping bounding boxes in a common frame of reference, and a common object identifier. The method includes adjusting the input confidence levels for each input object indicator in the candidate subsets; selecting clusters of the input object indicators satisfying a minimum input confidence threshold, having a common object identifier, and having a degree of overlap satisfying a predefined threshold; and detecting an object by generating a single output object indicator for each cluster, the output object indicator having an output bounding box, an output confidence level value, and the common object identifier.
-
Citations
19 Claims
-
1. A method of object detection in an imaging controller, comprising:
-
obtaining a set of images depicting overlapping regions of an area containing a plurality of objects;
each of the set of images including a plurality of input object indicators defined by respective (i) input bounding boxes, (ii) input confidence level values, and (iii) object identifiers;identifying candidate subsets of input object indicators in adjacent ones of the set of images, each candidate subset having input bounding boxes that overlap in a common frame of reference, and a common object identifier; adjusting the input confidence level values upwards from initial values for each input object indicator in the candidate subsets; selecting clusters of the input object indicators, the input object indicators of each cluster satisfying a minimum input confidence threshold, having a common object identifier, and having a degree of overlap that satisfies a predefined threshold; and detecting an object by generating a single output object indicator for each cluster, the output object indicator having (i) an output bounding box, (ii) an output confidence level value, and (iii) the common object identifier. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. A computing device for detecting objects, the computing device comprising:
-
a memory; an imaging controller comprising; an image preprocessor configured to obtain a set of images from the memory depicting overlapping regions of an area containing a plurality of objects;
each of the set of images including a plurality of input object indicators defined by respective (i) input bounding boxes, (ii) input confidence level values, and (iii) object identifiers;a subset detector configured to identify candidate subsets of input object indicators in adjacent ones of the set of images, each candidate subset having input bounding boxes that overlap in a common frame of reference, and a common object identifier; the subset detector further configured to adjust the input confidence level values upwards from initial values for each input object indicator in the candidate subsets; a cluster detector configured to select clusters of the input object indicators, the input object indicators of each cluster satisfying a minimum input confidence threshold, having a common object identifier, and having a degree of overlap that satisfies a predefined threshold; and an output generator configured to detect an object by generating a single output object indicator for each cluster, the output object indicator having (i) an output bounding box, (ii) an output confidence level value, and (iii) the common object identifier. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
-
-
19. A non-transitory computer readable storage medium containing a plurality of computer readable instructions executable by an imaging controller to configure the imaging controller to perform a method of object detection comprising:
-
obtaining a set of images depicting overlapping regions of an area containing a plurality of objects;
each of the set of images including a plurality of input object indicators defined by respective (i) input bounding boxes, (ii) input confidence level values, and (iii) object identifiers;identifying candidate subsets of input object indicators in adjacent ones of the set of images, each candidate subset having input bounding boxes that overlap in a common frame of reference, and a common object identifier; adjusting the input confidence level values upwards from initial values for each input object indicator in the candidate subsets; selecting clusters of the input object indicators, the input object indicators of each cluster satisfying a minimum input confidence threshold, having a common object identifier, and having a degree of overlap that satisfies a predefined threshold; and detecting an object by generating a single output object indicator for each cluster, the output object indicator having (i) an output bounding box, (ii) an output confidence level value, and (iii) the common object identifier.
-
Specification