Using a depth map of a monitored scene to identify floors, walls, and ceilings
First Claim
1. A method of identifying large planar surfaces in scenes, comprising:
- at a computing device having one or more processors, and memory storing one or more programs configured for execution by the one or more processors;
receiving a plurality of captured IR images of a scene taken by a 2-dimensional array of image sensors of a camera that has a plurality of IR illuminators proximate to the array of image sensors, wherein each IR image is captured when a distinct subset of the IR illuminators of the camera is illuminated;
constructing a depth map of a scene using the plurality of IR images;
using the depth map to compute a binary depth edge map for the scene, wherein the binary depth edge map specifies lines of depth discontinuities in the depth map;
identifying a plurality of image regions enclosed by lines of depth discontinuities in the binary depth edge map;
determining that a first image region of the plurality of image regions represents a large planar surface in the scene by;
fitting a plane to points in the first component;
determining the orientation of the plane; and
determining that the plane fitting residual error is less than a predefined threshold; and
identifying a region in a displayed RGB image of the scene taken by the camera, wherein the region in the RGB image corresponds to the first image region.
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Accused Products
Abstract
A process identifies large planar surfaces in scenes. The process receives captured IR images of a scene taken by a 2-dimensional array of image sensors of a camera system. Each IR image is captured when a distinct subset of IR illuminators of the camera system is illuminated. The process constructs a depth map of a scene using IR images and uses the depth map to compute a binary depth edge map for the scene. The binary depth edge map identifies which points in the depth map comprise depth discontinuities. The process identifies contiguous components based on the binary depth edge map and determines that a first component of the contiguous components represents a large planar surface in the scene by: fitting a plane to points in the first component; determining the orientation of the plane; and determining that the plane fitting residual error is less than a predefined threshold.
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Citations
22 Claims
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1. A method of identifying large planar surfaces in scenes, comprising:
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at a computing device having one or more processors, and memory storing one or more programs configured for execution by the one or more processors; receiving a plurality of captured IR images of a scene taken by a 2-dimensional array of image sensors of a camera that has a plurality of IR illuminators proximate to the array of image sensors, wherein each IR image is captured when a distinct subset of the IR illuminators of the camera is illuminated; constructing a depth map of a scene using the plurality of IR images; using the depth map to compute a binary depth edge map for the scene, wherein the binary depth edge map specifies lines of depth discontinuities in the depth map; identifying a plurality of image regions enclosed by lines of depth discontinuities in the binary depth edge map; determining that a first image region of the plurality of image regions represents a large planar surface in the scene by; fitting a plane to points in the first component; determining the orientation of the plane; and determining that the plane fitting residual error is less than a predefined threshold; and identifying a region in a displayed RGB image of the scene taken by the camera, wherein the region in the RGB image corresponds to the first image region. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computing device, comprising:
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one or more processors; memory; and one or more programs stored in the memory configured for execution by the one or more processors, the one or more programs comprising instructions for; receiving a plurality of captured IR images of a scene taken by a 2-dimensional array of image sensors of a camera that has a plurality of IR illuminators proximate to the array of image sensors, wherein each IR image is captured when a distinct subset of the IR illuminators of the camera is illuminated; constructing a depth map of a scene using the plurality of IR images; using the depth map to compute a binary depth edge map for the scene, wherein the binary depth edge map specifies lines of depth discontinuities in the depth map; identifying a plurality of image regions enclosed by lines of depth discontinuities in the binary depth edge map; determining that a first image region of the plurality of image regions represents a large planar surface in the scene by; fitting a plane to points in the first component; determining the orientation of the plane; and determining that the plane fitting residual error is less than a predefined threshold; and identifying a region in a displayed RGB image of the scene taken by the camera, wherein the region in the RGB image corresponds to the first image region. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A non-transitory computer readable storage medium storing one or more programs configured for execution by a computing device having one or more processors and memory, the one or more programs comprising instructions for:
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receiving a plurality of captured IR images of a scene taken by a 2-dimensional array of image sensors of a camera that has a plurality of IR illuminators proximate to the array of image sensors, wherein each IR image is captured when a distinct subset of the IR illuminators of the camera is illuminated; constructing a depth map of a scene using the plurality of IR images; using the depth map to compute a binary depth edge map for the scene, wherein the binary depth edge map specifies lines of depth discontinuities in the depth map; identifying a plurality of image regions enclosed by lines of depth discontinuities in the binary depth edge map; determining that a first image region of the plurality of image regions represents a large planar surface in the scene by; fitting a plane to points in the first component; determining the orientation of the plane; and determining that the plane fitting residual error is less than a predefined threshold; and identifying a region in a displayed RGB image of the scene taken by the camera, wherein the region in the RGB image corresponds to the first image region. - View Dependent Claims (18, 19, 20, 21, 22)
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Specification