Efficient visual surface finding
First Claim
Patent Images
1. An imaging system for determining a plane, comprising:
- a processor configured so as to receive a depth image,wherein the processor is configured so as to divide a portion of a depth image into a plurality of areas, fit a two-dimensional line to depth points in each of the plurality of areas, and combine two or more of the plurality of two-dimensional lines to form a three-dimensional plane estimate, andwherein the plurality of areas are greater than one pixel in each direction,the processor being further configured to fit the two-dimensional line by;
dividing the area into a plurality of scan lines;
selecting a depth point with a highest depth value out of a set of the depth points on each of the plurality of scan lines;
discarding depth points which are not further away than a farthest depth point on an adjacent scan line of the plurality of scan lines; and
fitting remaining depth points of the set of the depth points so as to calculate the two-dimensional line.
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Abstract
A structure for determining a plane in a depth image includes dividing a portion of a depth image into a plurality of areas, fitting a two-dimensional line to depth points in each of the plurality of areas, and combining two or more of the plurality of two-dimensional lines to form a three-dimensional plane estimate.
11 Citations
7 Claims
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1. An imaging system for determining a plane, comprising:
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a processor configured so as to receive a depth image, wherein the processor is configured so as to divide a portion of a depth image into a plurality of areas, fit a two-dimensional line to depth points in each of the plurality of areas, and combine two or more of the plurality of two-dimensional lines to form a three-dimensional plane estimate, and wherein the plurality of areas are greater than one pixel in each direction, the processor being further configured to fit the two-dimensional line by; dividing the area into a plurality of scan lines; selecting a depth point with a highest depth value out of a set of the depth points on each of the plurality of scan lines; discarding depth points which are not further away than a farthest depth point on an adjacent scan line of the plurality of scan lines; and fitting remaining depth points of the set of the depth points so as to calculate the two-dimensional line. - View Dependent Claims (2, 3, 4, 6, 7)
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5. An imaging system for determining a plane, comprising:
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a processor configured so as to receive a depth image, wherein the processor is configured so as to divide a portion of a depth image into a plurality of areas, fit a two-dimensional line to depth points in each of the plurality of areas, and combine two or more of the plurality of two-dimensional lines to form a three-dimensional plane estimate, and wherein the plurality of areas are greater than one pixel in each direction, the imaging system further comprising an imaging unit configured so as to capture a depth image and transmit the depth image to the processor, wherein the imaging unit is configured so as to capture the depth image such that the depth image has an amount of roll angle relative to a vertical axis less than 15 degrees, the processor being further configured to fit the two-dimensional line by; dividing the area into a plurality of scan lines; selecting a depth point with a highest depth value out of a set of the depth points on each of the plurality of scan lines; discarding depth points which are not further away than a farthest depth point on an adjacent scan line of the plurality of scan lines; and fitting remaining depth points of the set of the depth points so as to calculate the two-dimensional line.
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Specification
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Current AssigneeInternational Business Machines Corporation
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Original AssigneeInternational Business Machines Corporation
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InventorsConnell, Jonathan H. II
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Primary Examiner(s)Koziol, Stephen R
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Assistant Examiner(s)Choi, Timothy
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Application NumberUS14/017,512Publication NumberTime in Patent Office1,154 DaysField of SearchUS Class Current1/1CPC Class CodesG06T 17/10 Constructive solid geometry...G06T 2207/20021 Dividing image into blocks,...G06T 7/521 from laser ranging, e.g. us...
