Computer vision depth segmentation using virtual surface
First Claim
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1. A method for identifying a location of an object in a physical scene with a stereo camera comprising:
- identifying a virtual surface in the physical scene;
constructing an approximate disparity set for the virtual surface;
acquiring a main and a reference image of the scene with the stereo camera;
warping the reference image according to the disparity set;
subtracting pixels of the warped reference image from corresponding pixels of the main image to determine a depth residual of each pixel;
acquiring a sparse set of point correspondences from a calibration pair of images;
applying a polynomial interpolation to the sparse set of point correspondences to generate a smooth continuous approximate disparity set, wherein a particular disparity, d(x, y) is approximated by a linear system d(x, y)=Λ
{tilde over (x)}(x, y), where Λ
is an unknown matrix of coefficients, and {tilde over (x)}(x, y) is a power expansion of x=[x, y]T identifying pixels having a substantially non-zero residual with a surface of the object not coincident with the virtual surface.
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Abstract
The location of an object in a physical scene is identified with a stereo camera. A virtual surface is identified in the physical scene, and an approximate disparity set is constructed for the virtual surface. A main and a reference image of the scene are acquired by the stereo camera. The reference image is warped according to the disparity set, and subtracted from the main image to determine a set of depth residual values. Pixels having a substantially non-zero residual are identified with a surface of the object not coincident with the virtual surface.
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12 Claims
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1. A method for identifying a location of an object in a physical scene with a stereo camera comprising:
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identifying a virtual surface in the physical scene;
constructing an approximate disparity set for the virtual surface;
acquiring a main and a reference image of the scene with the stereo camera;
warping the reference image according to the disparity set;
subtracting pixels of the warped reference image from corresponding pixels of the main image to determine a depth residual of each pixel;
acquiring a sparse set of point correspondences from a calibration pair of images;
applying a polynomial interpolation to the sparse set of point correspondences to generate a smooth continuous approximate disparity set, wherein a particular disparity, d(x, y) is approximated by a linear system d(x, y)=Λ
{tilde over (x)}(x, y), where Λ
is an unknown matrix of coefficients, and {tilde over (x)}(x, y) is a power expansion of x=[x, y]Tidentifying pixels having a substantially non-zero residual with a surface of the object not coincident with the virtual surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification