Object detection in depth images
First Claim
Patent Images
1. A method for detecting an object in a depth image, comprising:
- determining a detection window covering a region in the depth image, wherein a location of the detection window is based on a location of a candidate pixel in the depth image, wherein a size of the detection window is based on a depth value of the candidate pixel and a size of the object;
segmenting a foreground region in the detection window based on the depth value of the candidate pixel and the size of the object;
classifying the foreground region as not including the object, if a number of pixels in the foreground region is less than a threshold; and
otherwiseresizing the foreground region based on a training size of a classifier;
determining a feature vector based on depth values of the pixels in the foreground region; and
classifying the feature vector to detect the object.
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Abstract
A method for detecting an object in a depth image includes determining a detection window covering a region in the depth image, wherein a location of the detection window is based on a location of a candidate pixel in the depth image, wherein a size of the detection window is based on a depth value of the candidate pixel and a size of the object. A foreground region in the detection window is segmented based on the depth value of the candidate pixel and the size of the object. A feature vector is determined based on depth values of the pixels in the foreground region and the feature vector is classified to detect the object.
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Citations
20 Claims
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1. A method for detecting an object in a depth image, comprising:
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determining a detection window covering a region in the depth image, wherein a location of the detection window is based on a location of a candidate pixel in the depth image, wherein a size of the detection window is based on a depth value of the candidate pixel and a size of the object; segmenting a foreground region in the detection window based on the depth value of the candidate pixel and the size of the object; classifying the foreground region as not including the object, if a number of pixels in the foreground region is less than a threshold; and
otherwiseresizing the foreground region based on a training size of a classifier; determining a feature vector based on depth values of the pixels in the foreground region; and classifying the feature vector to detect the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method for detecting an object in a depth image, comprising:
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selecting, for a candidate pixel, a size of a detection window as a function of a depth value of the candidate pixel; arranging the detection window in the depth image around a location of the candidate pixel; setting a depth value of a pixel in the detection window to NULL, if a difference between a depth value of the pixel and the depth value of the candidate pixel is greater than a depth threshold, wherein a value of the depth threshold is a function of the depth value of the candidate pixel and a depth of the object; classifying the detection window as not including the object, if a number of pixels in the detection window having a non-NULL value is less than a threshold; and
otherwisesubtracting the depth value of the candidate pixel from non-NULL depth values of pixels in the detection window; resizing the detection window based on a training size of a classifier; determining a feature vector based on depth values of the pixels in the detection window; and classifying the feature vector to detect the object.
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19. A system for detecting an object in a depth image, comprising:
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a depth sensor for acquiring the depth image; a memory storing a lookup table for retrieval a size of a detection window based on a depth value; a classifier for detecting the object in an input image, wherein the input image has a training size; and a processor for determining the input image to the classifier and for executing the classifier to detect the object in the input image, such that during an operation of the system, the input image includes a foreground region segmented within the detection window arranged aground a candidate pixel, wherein the size of the detection window is selected from the lookup table using a depth value of the candidate pixel. - View Dependent Claims (20)
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Specification