Apparatus and methods for saliency detection based on color occurrence analysis
First Claim
1. A non-transitory computer-readable storage medium having instructions embodied thereon, the instructions being executable by a processing apparatus to configure a process enabled to track an object in a plurality of images each comprised of pixels, wherein the instructions, when executed by the processing apparatus cause the process to:
- evaluate a pixel chromaticity distribution for pixels of a given image of the plurality of images, the evaluation of the pixel chromaticity distribution comprising a reconstruction of the given image and an assignment of a saliency value within the reconstructed image;
based at least on the evaluation, identify a portion of pixels of the given image, the identification of the portion of pixels being based on the assigned saliency value within the reconstructed image;
provide positions corresponding respectively to individual pixels of the portion to the process; and
based on the provided positions, navigate a robotic apparatus in communication with the processing apparatus;
wherein;
the portion of pixels corresponds to a representation of the object in the given image;
the provided positions are configured to enable the process to determine a location of the object in a subsequent image of the plurality of images;
the evaluation of the pixel chromaticity distribution comprises a determination of a histogram of occurrence of pixel chromaticity within the given image.
2 Assignments
0 Petitions
Accused Products
Abstract
Apparatus and methods for detecting and utilizing saliency in digital images. In one implementation, salient objects may be detected based on analysis of pixel characteristics. Least frequently occurring pixel values may be deemed as salient. Pixel values in an image may be compared to a reference. Color distance may be determined based on a difference between reference color and pixel color. Individual image channels may be scaled when determining saliency in a multi-channel image. Areas of high saliency may be analyzed to determine object position, shape, and/or color. Multiple saliency maps may be additively or multiplicative combined in order to improve detection performance (e.g., reduce number of false positives). Methodologies described herein may enable robust tracking of objects utilizing fewer determination resources. Efficient implementation of the methods described below may allow them to be used for example on board a robot (or autonomous vehicle) or a mobile determining platform.
-
Citations
23 Claims
-
1. A non-transitory computer-readable storage medium having instructions embodied thereon, the instructions being executable by a processing apparatus to configure a process enabled to track an object in a plurality of images each comprised of pixels, wherein the instructions, when executed by the processing apparatus cause the process to:
-
evaluate a pixel chromaticity distribution for pixels of a given image of the plurality of images, the evaluation of the pixel chromaticity distribution comprising a reconstruction of the given image and an assignment of a saliency value within the reconstructed image; based at least on the evaluation, identify a portion of pixels of the given image, the identification of the portion of pixels being based on the assigned saliency value within the reconstructed image; provide positions corresponding respectively to individual pixels of the portion to the process; and based on the provided positions, navigate a robotic apparatus in communication with the processing apparatus; wherein; the portion of pixels corresponds to a representation of the object in the given image; the provided positions are configured to enable the process to determine a location of the object in a subsequent image of the plurality of images; the evaluation of the pixel chromaticity distribution comprises a determination of a histogram of occurrence of pixel chromaticity within the given image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
-
-
20. A method of tracking an object in a sequence of images, the method comprising:
-
evaluating a pixel chromaticity distribution for pixels of a given image of the sequence of images, the evaluating of the pixel chromaticity distribution comprising reconstructing the given image and assigning a saliency value within the reconstructed image, the evaluating of the pixel chromaticity distribution comprising determining a histogram of occurrence of pixel chromaticity within the given image; based at least on the evaluating, identifying a portion of pixels of the given image, the identifying of the portion of pixels being based on the assigned saliency value within the reconstructed image; providing, to a computerized process enabled to track the object, positions corresponding respectively to individual pixels of the portion of pixels, the provided positions enabling the process to determine a location of the object in a subsequent image of the sequence of images; and based on the provided positions, navigating a robotic apparatus that is in communication with the computerized process; wherein the portion of pixels corresponds to a representation of the object in the given image. - View Dependent Claims (21, 22, 23)
-
Specification