Apparatus and method for recognizing object using depth image
First Claim
Patent Images
1. An apparatus for recognizing an object, the apparatus comprising:
- a processor configured toextract a foreground from a depth image comprising a depth associated with the object;
determine whether a hole is present in the depth image, based on the foreground and a color image comprising a color associated with the object;
generate, using the foreground and the hole, a feature vector comprising a plurality of features corresponding to the object, based on a result of the determining; and
recognize the object by calculating a distance between the generated feature vector and a reference feature vector corresponding to a predetermined shape of the object.
1 Assignment
0 Petitions
Accused Products
Abstract
An apparatus recognizes an object using a hole in a depth image. An apparatus may include a foreground extractor to extract a foreground from the depth image, a hole determiner to determine whether a hole is present in the depth image, based on the foreground and a color image, a feature vector generator to generate a feature vector, by generating a plurality of features corresponding to the object based on the foreground and the hole, and an object recognizer to recognize the object, based on the generated feature vector and at least one reference feature vector.
-
Citations
21 Claims
-
1. An apparatus for recognizing an object, the apparatus comprising:
a processor configured to extract a foreground from a depth image comprising a depth associated with the object; determine whether a hole is present in the depth image, based on the foreground and a color image comprising a color associated with the object; generate, using the foreground and the hole, a feature vector comprising a plurality of features corresponding to the object, based on a result of the determining; and recognize the object by calculating a distance between the generated feature vector and a reference feature vector corresponding to a predetermined shape of the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
-
17. An apparatus for recognizing an object, the apparatus comprising:
a processor configured to extract a foreground and a background from a depth image comprising a depth associated with the object; determine a depth value of the background, based on statistical values associated with depth values of pixels corresponding to the foreground; generate a feature vector, by generating a plurality of features corresponding to the object based on the depth value of the background and the depth values of the pixels corresponding to the foreground; and recognize the object, based on the feature vector and at least one reference feature vector corresponding to a predetermined shape of the object. - View Dependent Claims (18, 19, 20)
-
21. A method of recognizing an object, the method comprising:
-
acquiring a depth image comprising a depth associated with the object, and a color image comprising a color associated with the object; extracting a foreground from the depth image; determining whether a hole is present in the depth image, using the foreground and the color image; generating, using at least one processor, a feature vector comprising a plurality of features corresponding to the object using the foreground and the hole, based on a result of the determination; and recognizing the object by calculating a distance between the generated feature vector and a reference feature vector corresponding to a predetermined shape of the object.
-
Specification