Method and apparatus for fast computational stereo
First Claim
1. A method for segmenting an image, comprising the steps of:
- acquiring, through an image acquisition system, a plurality of images;
clustering pixels from one of the plurality of images into one or more segments, each segment being defined in a state of either stable, mesostable or unstable, the clustering further comprising the steps of;
determining one or more residual pixels changing by more than a predetermined threshold;
grouping the one or more determined residual pixels to form one or more segments selected from the group of unstable and mesostable segments;
determining depth for all unstable and mesostable segments;
transitioning one or more unstable segments to one or more corresponding mesostable segments if one or more predetermined stability criteria are met;
transitioning one or more mesostable segments to one or more corresponding stable segments upon a determination that the one or more mesostable segments have remained stable for a predetermined number of frames; and
merging one or more stable and mesostable segments.
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Accused Products
Abstract
A method, system and computer program for segmenting an image are provided. The method may include the steps of acquiring a plurality of images, and clustering pixels from one of the plurality of images into one or more segments, each segment being defined in a state of either stable, mesostable or unstable. The clustering may include the steps of determining residual pixels changing by more than a predetermined threshold, grouping the determined residual pixels to form segments selected from the group of unstable and mesostable segments, determining depth for all unstable and mesostable segments, transitioning unstable segments to corresponding mesostable segments if predetermined stability criteria are met, transitioning mesostable segments to corresponding stable segments upon a determination that the mesostable segments have remained stable for a predetermined number of frames, and merging stable and mesostable segments.
256 Citations
24 Claims
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1. A method for segmenting an image, comprising the steps of:
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acquiring, through an image acquisition system, a plurality of images; clustering pixels from one of the plurality of images into one or more segments, each segment being defined in a state of either stable, mesostable or unstable, the clustering further comprising the steps of; determining one or more residual pixels changing by more than a predetermined threshold; grouping the one or more determined residual pixels to form one or more segments selected from the group of unstable and mesostable segments; determining depth for all unstable and mesostable segments; transitioning one or more unstable segments to one or more corresponding mesostable segments if one or more predetermined stability criteria are met; transitioning one or more mesostable segments to one or more corresponding stable segments upon a determination that the one or more mesostable segments have remained stable for a predetermined number of frames; and merging one or more stable and mesostable segments. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A non-transitory computer program stored to a non-volatile computer medium, the computer program causing a multi-purpose computer to segment an image by performing the steps of:
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acquiring, through an image acquisition system, a plurality of images; clustering pixels from one of the plurality of images into one or more segments, each segment being defined in a state of either stable, mesostable or unstable, the clustering further comprising the steps of;
determining one or more residual pixels changing by more than a predetermined threshold;
grouping the one or more determined residual pixels to form one or more segments selected from the group of unstable and mesostable segments;determining depth for all unstable and mesostable segments; transitioning one or more unstable segments to one or more corresponding mesostable segments if one or more predetermined stability criteria are met; transitioning one or more mesostable segments to one or more corresponding stable segments upon a determination that the one or more mesostable segments have remained stable for a predetermined number of frames; and merging one or more stable and mesostable segments. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification