Plane-fitting edge detection
First Claim
Patent Images
1. A method comprising:
- determining pixels, in a portion of a depth map of an environment, that comprise edge pixels, wherein an edge pixel represents an edge of an object in the environment; and
determining edges of an object in the environment by connecting the edge pixels;
wherein the determining the pixels that comprise edge pixels comprises, for each pixel in the portion of the depth map;
accessing a depth map that indicates, for each pixel of a group of pixels, a depth measurement of each respective pixel from a camera that obtained the depth map, the group of pixels comprising the pixel and pixels that are immediately adjacent to the pixel in the portion of the depth map;
estimating a plane for the pixel based on a depth measurement of the pixel and respective depth measurements for the pixels that are immediately adjacent to the pixel in the depth map, the estimating the plane based at least in part on a total least squares algorithm or an approximation of a total least squares algorithm;
determining inlier pixels, the inlier pixels comprising pixels of the group of pixels that belong to the plane;
determining outlier pixels, the outlier pixels comprising pixels of the group of pixels that do not belong to the plane;
determining a ratio of the inlier pixels to the outlier pixels;
determining that the ratio is less than a threshold ratio; and
determining that the pixel is an edge pixel at least partly in response to determining that the ratio is less than the threshold ratio, an edge pixel representing at least a portion of an edge of the object.
2 Assignments
0 Petitions
Accused Products
Abstract
Techniques are described for determining edge pixels from a depth map in order to identify edges of an object within an environment. The techniques may fit a plane to a group of pixels comprising a subject pixel and neighbors of the subject pixel. Each pixel of the group may then be classified as either an inlier pixel or an outlier pixel, and a ratio of inlier pixels to outlier pixels of the group may be calculated. The techniques then compare this ratio to a threshold ratio to designate the subject pixel as either an edge pixel or a non-edge pixel. Edge pixels designated in this manner may then be used to identify object edges and, hence, objects in the environment.
12 Citations
17 Claims
-
1. A method comprising:
-
determining pixels, in a portion of a depth map of an environment, that comprise edge pixels, wherein an edge pixel represents an edge of an object in the environment; and determining edges of an object in the environment by connecting the edge pixels; wherein the determining the pixels that comprise edge pixels comprises, for each pixel in the portion of the depth map; accessing a depth map that indicates, for each pixel of a group of pixels, a depth measurement of each respective pixel from a camera that obtained the depth map, the group of pixels comprising the pixel and pixels that are immediately adjacent to the pixel in the portion of the depth map; estimating a plane for the pixel based on a depth measurement of the pixel and respective depth measurements for the pixels that are immediately adjacent to the pixel in the depth map, the estimating the plane based at least in part on a total least squares algorithm or an approximation of a total least squares algorithm; determining inlier pixels, the inlier pixels comprising pixels of the group of pixels that belong to the plane; determining outlier pixels, the outlier pixels comprising pixels of the group of pixels that do not belong to the plane; determining a ratio of the inlier pixels to the outlier pixels; determining that the ratio is less than a threshold ratio; and determining that the pixel is an edge pixel at least partly in response to determining that the ratio is less than the threshold ratio, an edge pixel representing at least a portion of an edge of the object. - View Dependent Claims (2, 3)
-
-
4. One or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause one or more processors to perform acts comprising:
-
fitting a plane to a group of pixels of a depth map, each pixel of the group of pixels being associated with a depth measurement; calculating, for each pixel of the group of pixels, a distance between the pixel and the fitted plane; comparing, for each pixel of the group of pixels, its distance to the fitted plane to a threshold distance; classifying pixels having a distance to the plane that is equal to or less than the threshold distance as inlier pixels and pixels having a distance to the plane that is greater than the threshold distance as outlier pixels; determining a number of the inlier pixels; determining a number of the outlier pixels; calculating a ratio based at least in part on the number of the inlier pixels and the number of the outlier pixels; comparing the ratio to a threshold ratio; and designating, based at least in part on the comparing, at least one pixel of the group of pixels as an edge pixel or a non-edge pixel based at least in part on the classifying. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13)
-
-
14. A system comprising:
-
one or more processors; and one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform acts comprising; fitting a plane to a group of pixels of a depth map, each pixel of the group of pixels being associated with a depth measurement, the group of pixels comprising a middle pixel and immediately adjacent neighbors of the middle pixel that share respective edges with the middle pixel on the depth map; calculating, for each pixel of the group of pixels, a distance between the pixel and the fitted plane; comparing, for each pixel of the group of pixels, its distance to the fitted plane to a threshold distance; classifying pixels having a distance to the plane that is equal to or less than the threshold distance as inlier pixels and pixels having a distance to the plane that is greater than the threshold distance as outlier pixels; and designating at least one pixel of the group of pixels as an edge pixel or a non-edge pixel based at least in part on the classifying, the at least one pixel comprising the middle pixel of the group of pixels. - View Dependent Claims (15, 16, 17)
-
Specification