Operating a computing device by detecting rounded objects in an image

• US 9,280,717 B2
• Filed: 05/14/2013
• Issued: 03/08/2016
• Est. Priority Date: 05/14/2012
• Status: Active Grant

• Current Assignee: Sphero Inc.
• Original Assignee: Sphero Inc.
• Inventors: Polo, Fabrizio
• Primary Examiner(s): Seth, Manav
• Application Number:
  US13/894,247
• Publication Number:
  US 20130301879A1
• Time in Patent Office: 1,029 Days
• US Class Current: 1/1
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes

Abstract

A method is disclosed for operating a computing device. One or more images of a scene captured by an image capturing device of the computing device is processed. The scene includes an object of interest that is in motion and that has a rounded shape. The one or more images are processed by detecting a rounded object that corresponds to the object of interest. Position information is determined based on a relative position of the rounded object in the one or more images. One or more processes are implemented that utilize the position information determined from the relative position of the rounded object.

Claims

1. A method for operating a computing device, the method being performed by one or more processors and comprising:

processing one or more images of a scene captured by an image capturing device of the computing device, the scene including a self-propelled device that is in motion and can be controlled wirelessly by the computing device, the self-propelled device having a characteristic rounded shape;

detecting the self-propelled device in the one or more images;

determining position information based on a relative position of the self-propelled device in the one or more images; and

implementing one or more processes that utilize the position information determined from the relative position of the self-propelled device;

wherein implementing the one or more processes includes (i) determining a reference point for the self-propelled device, (ii) enabling a user to interact with a displayed representation of the self-propelled device on a touch-sensitive display of the computing device, and (iii) controlling a movement of the self-propelled device based on the reference point.

2. The method of claim 1, wherein implementing the one or more processes further includes displaying, on the touch-sensitive display of the computing device, the displayed representation of the self-propelled device based on the determined position information.

3. The method of claim 1, wherein the self-propelled device is spherical.

4. The method of claim 1, wherein detecting the self-propelled device includes applying a filter to each of the one or more images.

5. The method of claim 4, wherein the filter is a grayscale filter, and wherein applying the filter includes generating a grayscale image for each of the one or more images.

6. The method of claim 5, wherein detecting the self-propelled device further includes determining a brightness gradient for a number of pixels in each of the one or more grayscale images, the brightness gradient indicating a center of the self-propelled device in the one or more grayscale images.

7. The method of claim 6, wherein detecting the self-propelled device includes, for each respective one of the pixels, marking a number of points within a defined distance of the respective pixel in a direction from the center of the self-propelled device, and determining the relative position of the self-propelled device in the one or more grayscale images based on the marked points.

8. The method of claim 1, wherein implementing the one or more processes further includes adjusting at least a portion of the one or more images in which the self-propelled device is detected.

9. The method of claim 8, wherein adjusting at least a portion of the one or more images includes generating a graphic feature to overlay the self-propelled device.

10. The method of claim 1, wherein implementing the one or more processes further includes calibrating one or more components of the self-propelled device.

11. A non-transitory computer-readable medium storing instructions that, when executed by a processor of a computing device, causes the processor to:

process one or more images of a scene captured by an image capturing device of the computing device, the scene including a self-propelled device that is in motion and can be controlled wirelessly by the computing device, the self-propelled device having a characteristic rounded shape;

detect the self-propelled device in the one or more images;

determine position information based on a relative position of the self-propelled device in the one or more images; and

implement one or more processes that utilize the position information determined from the relative position of the self-propelled device;

wherein the executed instructions cause the processor to implement the one or more processes by (i) determining a reference point for the self-propelled device, (ii) enabling a user to interact with a displayed representation of the self-propelled device on a touch-sensitive display of the computing device, and (iii) controlling a movement of the self-propelled device based on the reference point.

12. The non-transitory computer-readable medium of claim 11, wherein the executed instructions cause the processor to detect the self-propelled device by applying a grayscale filter to each of the one or more images, and wherein the executed instructions cause the processor to generate a grayscale image for each of the one or more images.

13. The non-transitory computer-readable medium of claim 12, wherein the executed instructions cause the processor to detect the self-propelled device by determining a brightness gradient for a number of pixels in each of the one or more grayscale images, the brightness gradient indicating a center of the self-propelled device in the one or more grayscale images.

14. The non-transitory computer-readable medium of claim 13, wherein the executed instructions cause the processor to detect the self-propelled device by, for each respective one of the pixels, marking a number of points within a defined distance of the respective pixel in a direction from the center of the self-propelled device, and by determining a position of the self-propelled device in the one or more grayscale images based on the marked points.

15. The non-transitory computer-readable medium of claim 14, wherein the executed instructions further cause the processor to implement the one or more processes by calibrating one or more components of the self-propelled device.

16. A mobile computing device comprising:

a touch-sensitive display;

an image capturing device;

a memory; and

a processor coupled to the image capturing device and the memory, the processor to;

process one or more images of a scene captured by the image capturing device, the scene including a self-propelled device that is in motion and can be controlled wirelessly by the mobile computing device, the self-propelled device having a characteristic rounded shape;

detect the self-propelled device in the one or more images;

determine position information based on a relative position of the self-propelled device in the one or more images; and

implement one or more processes that utilize the position information determined from the relative position of the self-propelled device;

wherein the executed instructions cause the processor to implement the one or more processes by (i) determining a reference point for the self-propelled device, (ii) enabling a user to interact with a displayed representation of the self-propelled device on the touch-sensitive display, and (iii) controlling a movement of the self-propelled device based on the reference point.