Screen space plane identification
First Claim
Patent Images
1. A method of finding and defining a plane, comprising:
- scanning in screen space a plurality of rows of a depth image;
identifying a first deepest value in a first region of each row;
identifying a second deepest value in a second region of each row;
interpolating a straight depth line through the first deepest value and the second deepest value for each row;
fitting a first straight boundary line using a subset of first endpoints of the straight depth lines;
fitting a second straight boundary line using a subset of second endpoints of the straight depth lines; and
defining the plane through the first straight boundary line and the second straight boundary line.
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Abstract
A method of finding and defining a plane includes screen-space scanning a plurality of rows of a depth image and interpolating a straight depth line through at least two depth values for each row. A pair of straight boundary lines are then fit to the endpoints of the straight depth lines, and a plane is defined to include these straight boundary lines.
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Citations
19 Claims
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1. A method of finding and defining a plane, comprising:
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scanning in screen space a plurality of rows of a depth image; identifying a first deepest value in a first region of each row; identifying a second deepest value in a second region of each row; interpolating a straight depth line through the first deepest value and the second deepest value for each row; fitting a first straight boundary line using a subset of first endpoints of the straight depth lines; fitting a second straight boundary line using a subset of second endpoints of the straight depth lines; and defining the plane through the first straight boundary line and the second straight boundary line. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A computing system, comprising:
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a depth camera configured to capture depth information useable to construct a depth image; a logic subsystem operatively connected to the depth camera; and a data-holding subsystem holding instructions executable by the logic subsystem to; scan in screen space a plurality of rows of a depth image; identify a first deepest value in a first region of each row; identify a second deepest value in a second region of each row; interpolate a straight depth line through the first deepest value and the second deepest value for each row; fit a first straight boundary line using a subset of first endpoints of the straight depth lines; fit a second straight boundary line using a subset of second endpoints of the straight depth lines; and define a plane through the first straight boundary line and the second straight boundary line. - View Dependent Claims (18, 19)
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Specification