System and method of extracting plane features
First Claim
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1. A navigation system, comprising:
- an image sensor operable to obtain range data for a first scene; and
a processing unit coupled to the image sensor and operable to identify one or more plane features, based on the range data, using each of a plurality of scales;
wherein the processing unit is further operable to combine each of the one or more plane features with a corresponding plane feature from each of the plurality of scales and to project the one or more combined plane features to a reference orientation.
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Abstract
A navigation system comprises an image sensor operable to obtain range data for a first scene, and a processing unit coupled to the image sensor. The processing unit is operable to identify one or more plane features, based on the range data, using each of a plurality of scales. The processing unit is further operable to combine each of the one or more plane features with a corresponding plane feature from each of the plurality of scales and to project the one or more combined plane features to a reference orientation.
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Citations
17 Claims
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1. A navigation system, comprising:
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an image sensor operable to obtain range data for a first scene; and a processing unit coupled to the image sensor and operable to identify one or more plane features, based on the range data, using each of a plurality of scales; wherein the processing unit is further operable to combine each of the one or more plane features with a corresponding plane feature from each of the plurality of scales and to project the one or more combined plane features to a reference orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of performing navigation tasks, the method comprising:
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obtaining range data of a first scene with an image sensor; providing the range data from the image sensor to a processing unit; identifying one or more plane features in the scene based on the range data; segmenting the scene based on the one or more identified plane features; projecting the one or more segmented plane features to a static reference orientation; and analyzing the one or more projected plane features; wherein identifying one or more plane features based on the range data comprises; for each of a plurality of scales, calculating a normal vector at each of a plurality of points in the scene; for each of the plurality of scales, comparing the difference between the normal vectors at the plurality of points with a threshold, wherein each point, for which the difference is below a threshold, is determined to be a part of one of the one or more plane features; combining the one or more plane features with corresponding plane features from each of the plurality of scales; and detecting a local maxima in each of the one or more combined plane features; wherein calculating a normal vector at each of the plurality of points comprises; calculating a plurality of cross-products, each between two difference vectors, wherein each difference vector represents the difference between a selected one of the plurality of points and a boundary point of the selected point'"'"'s neighborhood; and approximating the normal vector at the selected point based on the plurality of cross-products. - View Dependent Claims (10, 11)
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12. A program product comprising program instructions embodied on a processor-readable non-transitory storage medium for execution by a programmable processor, wherein the program instructions are operable to cause the programmable processor to:
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calculate, for each of a plurality of scales, a normal vector at each of a plurality of points in a first scene based on range data received from an image sensor; compare, for each of the plurality of scales, the difference between the normal vectors at the plurality of points with a threshold, wherein each point, for which the difference is below a threshold, is determined to be a part of a plane feature; combine the plane feature with a corresponding plane feature from each of the plurality of scales; and detect a local maxima in the combined plane feature. - View Dependent Claims (13, 14, 15, 16, 17)
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Specification