Missing feet recovery of a human object from an image sequence based on ground plane detection
First Claim
1. An object segmentation system, comprising:
- a first-type of sensor configured to capture a sequence of color image frames of a scene;
a second-type of sensor configured to capture a depth image for each corresponding color image frame of the sequence of color image frames; and
control circuitry configured to;
generate a point cloud for an input color image frame of the sequence of color image frames received from the first-type of sensor, based on a corresponding input depth image for the input color image frame received from the second-type of sensor;
segment a foreground human object from a background of the input color image frame based on a first set of image parameters, wherein the segmented foreground human object is devoid of at least a portion of a feet region of the foreground human object;
detect a ground plane for the scene captured in the input color image frame by clusterization of a plurality of vectors projected from a plurality of points in the generated point cloud into a set of vector clusters, wherein the ground plane for the scene is detected based on orientation information associated with one vector cluster of the set of vector clusters in the generated point cloud;
recover the feet region in a defined region from a level of the detected ground plane in the input color image frame, based on a second set of image parameters that are different from the first set of image parameters; and
extract the foreground human object that includes the recovered feet region from the background of the input color image frame of the sequence of color image frames, based on the detection of the ground plane and a plurality of foreground pixels in the defined region from the level of the detected ground plane.
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Abstract
An object segmentation system that includes a first type of sensor, a second type of sensor and a control circuitry. The first-type of sensor captures a sequence of color image frames of a scene. The second-type of sensor captures a depth image for each corresponding color image frame of the sequence of color image frames. The control circuitry generates a point cloud for an input color image frame. The control circuitry segments a foreground human object from a background of the input color image frame. The control circuitry detects a ground plane for the scene captured in the input color image frame. The control circuitry recovers a feet region in a defined region from a level of the detected ground plane. The control circuitry extracts the foreground human object with the recovered feet region from the background of the input color image frame, based on the detection of ground plane.
14 Citations
20 Claims
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1. An object segmentation system, comprising:
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a first-type of sensor configured to capture a sequence of color image frames of a scene; a second-type of sensor configured to capture a depth image for each corresponding color image frame of the sequence of color image frames; and control circuitry configured to; generate a point cloud for an input color image frame of the sequence of color image frames received from the first-type of sensor, based on a corresponding input depth image for the input color image frame received from the second-type of sensor; segment a foreground human object from a background of the input color image frame based on a first set of image parameters, wherein the segmented foreground human object is devoid of at least a portion of a feet region of the foreground human object; detect a ground plane for the scene captured in the input color image frame by clusterization of a plurality of vectors projected from a plurality of points in the generated point cloud into a set of vector clusters, wherein the ground plane for the scene is detected based on orientation information associated with one vector cluster of the set of vector clusters in the generated point cloud; recover the feet region in a defined region from a level of the detected ground plane in the input color image frame, based on a second set of image parameters that are different from the first set of image parameters; and extract the foreground human object that includes the recovered feet region from the background of the input color image frame of the sequence of color image frames, based on the detection of the ground plane and a plurality of foreground pixels in the defined region from the level of the detected ground plane. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method, comprising:
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in an object segmentation system comprising a first-type of sensor, a second-type of sensor, and a control circuitry; capturing, by the first-type of sensor, a sequence of color image frames of a scene; capturing, by the second-type of sensor, a depth image for each corresponding color image frame of the sequence of color image frames; generating, by the control circuitry, a point cloud for an input color image frame of the sequence of color image frames received from the first-type of sensor, based on a corresponding input depth image for the input color image frame received from the second-type of sensor; segmenting, by the control circuitry, a foreground human object from a background of the input color image frame based on a first set of image parameters, wherein the segmented foreground human object is devoid of at least a portion of a feet region of the foreground human object; detecting, by the control circuitry, a ground plane for the scene captured in the input color image frame, by clusterization of a plurality of vectors projected from a plurality of points in the generated point cloud into a set of vector clusters, wherein the ground plane for the scene is detected based on orientation information associated with one vector cluster of the set of vector clusters in the generated point cloud; recovering, by the control circuitry, the feet region in a defined region from a level of the detected ground plane in the input color image frame, based on a second set of image parameters that are different from the first set of image parameters; and extracting, by the control circuitry, the foreground human object that includes the recovered feet region from the background of the input color image frame of the sequence of color image frames, based on the detection of the ground plane and a plurality of foreground pixels in the defined region from the level of the detected ground plane. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification