US 7,321,669 B2 | ||
Method and apparatus for refining target position and size estimates using image and depth data | ||
John Benjamin Southall, Philadelphia, Pa. (US); David Hirvonen, Portland, Oreg. (US); and Theodore Armand Camus, Mount Laurel, N.J. (US) | ||
Assigned to Sarnoff Corporation, Princeton, N.J. (US); and Ford Motor Company, Dearborn, Mich. (US) | ||
Filed on Jul. 10, 2003, as Appl. No. 10/617,231. | ||
Prior Publication US 2005/0013465 A1, Jan. 20, 2005 | ||
Int. Cl. G06K 9/00 (2006.01) |
U.S. Cl. 382—106 | 23 Claims |
1. A method of refining a vision system comprising:
obtaining image intensity data of a field of view and a depth map of objects within the field of view;
determining if the image intensity data and the depth map include information related to a target;
searching for vertical edges of the target in the image intensity data using information in the depth map;
searching for the bottom of the target in the image intensity data using information in the depth map; and
searching for the top of the target in the image intensity data using information in the depth map, which is aligned to the
image intensity data, wherein said searching for the top of the target comprises:
(a) searching a row of the depth map data to determine whether a predetermined percentage of that row's depth measurements
fall within a specified depth;
(b) storing the position of the row of step (a) if that row has the predetermined percentage of depth measurements that fall
within a specified depth;
(c) searching a higher row of the depth map data to determine whether the predetermined percentage of that row's depth measurements
fall within a specified depth;
(d) looping to step (b) if the row of step (c) has the predetermined percentage of depth measurements that fall within the
specified depth; and
(e) identifying the highest row that has the predetermined percentage of depth measurements that fall within the specified
depth as the top of the target.
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