Object detection
AssigneeFord Global Technologies, LLC
InventorsDavid Michael Herman, Akshay Vaidya, Larry Sanders, Binduhasini Sairamesh
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Abstract
A computer that includes a processor and a memory, the memory including instructions executable by the processor can activate a plurality of light sources in an alternating pattern at an illumination frequency and acquire image data depicting light reflected from an object at a timing corresponding to the alternating pattern at the illumination frequency. In response to variations in the light impinging upon the object from the alternating pattern, an object contour can be determined based on estimating one or more object surface normals based on photometric stereo. One or more of object identity and object depth can be determined based on combining the object contour with the image data.
Claims20
A system, comprising:
- a computer that includes a processor and a memory, the memory including instructions executable by the processor to:
- activate light sources in a pattern at an illumination frequency;
- acquire image data depicting light reflected from an object at a timing indicating the pattern at the illumination frequency;
- acquire second image data without activating the light sources to determine global illumination;
- in response to variations in the light reflected from the object based on the pattern, determine an object contour based on estimating an object surface normal determined by a photometric stereo technique;
- and
- determine one or more of an identity and a depth of the object based on combining the object contour with the image data.
A method, comprising:
- activating light sources in a pattern at an illumination frequency;
- acquiring image data depicting light reflected from an object at a timing indicating the pattern at the illumination frequency;
- acquire second image data without activating the light sources to determine global illumination;
- in response to variations in the light reflected from the object based on the pattern, determining an object contour based on estimating an object surface normal determined by a photometric stereo technique;
- and
- determining one or more of an identity and a depth of the object based on combining the object contour with the image data.
Dependencies are inferred from the claim text.