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US 10,482,340 B2Granted
System and method for object recognition and ranging by deformation of projected shapes in a multimodal vision and sensing system for autonomous devices
AssigneeSamsung Electronics Co., Ltd.
InventorsDante Zeviar, Frantz Lohier
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Abstract
Provided is a disclosure for detection and recognition of objects using a projected array of light shapes of one or more frequencies, where the light may be structured or non-structured.
Claims20
A method, comprising:
- projecting, by a projecting device located at a platform, an array of light shapes, wherein each of the light shapes has a geometric shape that does not overlap with any other of the light shapes within an operating range of the projecting device;
- detecting, as reflected light shapes, a plurality of the light shapes reflected from an object in a projection path of the light shapes;
- processing the reflected light shapes to determine at least one of:
- distance from the platform to the object, orientation of the object, an edge of the object, and a corner of the object;
- identifying the object by results of the processing;
- maintaining a first library of shapes, wherein each shape in the first library corresponds to at least a portion of one of the light shapes,
- identifying comprises correlating fiducial points of one of the reflected light shapes to a shape in the first library of shapes;
- and
- in identifying the object, finding corresponding one or more primary shapes in the first library, wherein the primary shape is the shape that matches a target reflected light shape to at least a first threshold matching score.
6 more elements
A detection system, comprising:
- a projecting device located at a platform configured to project an array of light shapes, wherein each of the light shapes has a geometric shape that does not overlap with any other of the light shapes within an operating range of the projecting device;
- a light detector configured to detect, as reflected light shapes, a plurality of the light shapes reflected from an object in a projection path of the light shapes;
- and
- a processor configured to:
- process the reflected light shapes to determine at least one of:
- distance from the platform to the object, orientation of the object, an edge of the object, and a corner of the object,
- maintain a first library of shapes, wherein each shape in the first library corresponds to at least a portion of one of the light shapes, and
- identify the object from the processing of the reflections, wherein identifying comprises:
- correlating fiducial points of one of the reflected light shapes to a shape in the first library of shapes;
- and
- finding corresponding one or more primary shapes in the first library, wherein the primary shape is the shape that matches a target reflected light shape to at least a first threshold matching score.
8 more elements
Dependencies are inferred from the claim text.