Wheelchair detection using stereo vision
First Claim
Patent Images
1. A method for classifying an object in a scene comprising:
- acquiring a set of stereo images of the object in the scene with a set of stereo cameras;
segmenting the object from the background using detected edges of the stereo images;
generating a 3D reconstruction of the object from the detected edges of the stereo images in which the reconstruction further comprises;
fitting a vertical plane to the 3D reconstruction;
measuring a goodness-of-fit of the plane to the 3D reconstruction;
taking a ratio of the goodness-of-fit over the height, where the height is a difference between a topmost point of the 3D reconstruction and a ground plane; and
testing the ratio to classify the object as an ambulatory person or a wheelchair user; and
performing tests on height and 3D shape of the 3D reconstruction to classify the object as an ambulatory person or a wheelchair user.
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Abstract
A method classifies an object in a scene as either an ambulatory person or a wheelchair user. Images of the scene are acquired with a set of stereo cameras. Moving objects in the scene are segmented from the background using detected edges. A 3D reconstruction of the object is generated from the edges, and tests are performed on height and 3D shape of the 3D reconstruction to classify the object as the ambulatory person or the wheelchair user.
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Citations
12 Claims
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1. A method for classifying an object in a scene comprising:
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acquiring a set of stereo images of the object in the scene with a set of stereo cameras; segmenting the object from the background using detected edges of the stereo images; generating a 3D reconstruction of the object from the detected edges of the stereo images in which the reconstruction further comprises; fitting a vertical plane to the 3D reconstruction; measuring a goodness-of-fit of the plane to the 3D reconstruction; taking a ratio of the goodness-of-fit over the height, where the height is a difference between a topmost point of the 3D reconstruction and a ground plane; and testing the ratio to classify the object as an ambulatory person or a wheelchair user; and performing tests on height and 3D shape of the 3D reconstruction to classify the object as an ambulatory person or a wheelchair user. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for classifying an object in a scene comprising:
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a set of cameras acquiring a set of stereo images of the object in the scene; means for segmenting the object from the background using detected edges of the stereo images; means for generating a 3D reconstruction of the object from the detected edges of the stereo images, the reconstruction further comprising; fitting a vertical plane to the 3D reconstruction; measuring a goodness-of-fit of the plane to the 3D reconstruction; taking a ratio of the goodness-of-fit over the height, where the height is a difference between a topmost point of the 3D reconstruction and a ground plane; and testing the ratio to classify the object as an ambulatory person or a wheelchair user; and means for performing tests on height and 3D shape of the 3D reconstruction to classify the object as an ambulatory person or a wheelchair user.
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Specification