Computer vision system to detect 3-D rectangular objects
First Claim
Patent Images
1. A method of rectangular solid detection comprising:
- receiving a reference image of a scene;
receiving a new image of said scene;
differencing said new image of said scene from said reference image of said scene to produce a differenced image of said scene with a modified differencing technique; and
identifying a rectangular solid from said differenced image of said scene wherein said identifying said rectangular solid includes;
detecting edges from said differenced image of said scene;
finding lines from said edges and said differenced image of said scene;
finding fork junctions from lines and said differenced image of said scene;
filtering fork junctions and triplets of lines that meet a first set of certain criteria;
grouping said junctions and said triplets of lines that meet a second set of certain criteria; and
determining whether a rectangular solid exists in said image according to said grouping.
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Abstract
In general, the invention includes a method and system of rectangular solid detection comprising: receiving an image of data; detecting edges from the image of data; finding lines from the image of data; finding junctions from the lines; filtering junctions and lines that meet a first set of certain criteria; grouping the junctions and lines that meet a second set of certain criteria; and detecting whether a rectangular solid exists in the image according to the grouping. The criteria includes using triplets of lines and fork junctions. The system and method may also analyze a single frame, or a single frame paired with a reference frame.
56 Citations
10 Claims
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1. A method of rectangular solid detection comprising:
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receiving a reference image of a scene; receiving a new image of said scene; differencing said new image of said scene from said reference image of said scene to produce a differenced image of said scene with a modified differencing technique; and identifying a rectangular solid from said differenced image of said scene wherein said identifying said rectangular solid includes; detecting edges from said differenced image of said scene; finding lines from said edges and said differenced image of said scene; finding fork junctions from lines and said differenced image of said scene; filtering fork junctions and triplets of lines that meet a first set of certain criteria; grouping said junctions and said triplets of lines that meet a second set of certain criteria; and determining whether a rectangular solid exists in said image according to said grouping. - View Dependent Claims (2, 3, 4)
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5. A method of rectangular solid detection comprising:
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receiving an image of a scene; detecting edges from said image of said scene; finding lines from said edges and said image of said scene; finding triplets of lines from said lines and said image of said scene; finding fork junctions from said lines; filtering fork junctions and triplets of lines that meet a first set of certain criteria; grouping said fork junctions and triplets of lines that meet a second set of certain criteria; and determining whether a rectangular solid exists in said image according to said grouping. - View Dependent Claims (6, 7, 8, 9)
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10. A method of rectangular solid detection comprising:
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receiving an image of a scene; detecting edges from said image of said scene; finding lines from said edges and said image of said scene; finding triplets of lines from said lines and said image of said scene; finding fork junctions from said lines; filtering fork junctions and triplets of lines, wherein said filtering includes; accepting said triplets of lines with outer lines parallel and overlapping to produce an accepted set of triplet of lines; rejecting said fork junctions with angles greater 270°
;rejecting said fork junctions with two obtuse angles and one angle acute; and accepting all remaining fork junctions to produce an accepted set of fork junctions; grouping said fork junctions and triplets of lines, wherein said grouping includes; grouping said accepted set of fork junctions and said accepted set of triplets of lines that share two lines; grouping said accepted set of triplets of lines that share two lines; and grouping identifying said accepted set of fork junctions that share one line; and determining whether a rectangular solid exists in said image when a grouping is formed.
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Specification