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Computer vision depth segmentation using virtual surface

  • US 6,911,995 B2
  • Filed: 09/18/2001
  • Issued: 06/28/2005
  • Est. Priority Date: 08/17/2001
  • Status: Expired due to Fees
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 x~

    (x,y)
    =[x2y2xyxy1]
    ;

    and
    identifying pixels having a substantially non-zero residual with a surface of the object not coincident with the virtual surface.

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