Exclusion zone or inclusion zone generation for object detection
AssigneeCaterpillar Inc.
InventorDuane Myklejord
Life of this patent
Estimating the term…
Abstract
A controller may obtain, from a camera, a first image and a second image depicting a work machine in an environment, where an implement of the work machine has moved, or the work machine has moved in the environment, in a depiction of the second image relative to the first image. The controller may generate a difference image that depicts a region of difference between the first image and the second image. The controller may perform object detection on image data from the camera based on the difference image, where the region of difference depicted in the difference image is an exclusion zone or an inclusion zone used for the object detection.
Claims20
An object detection calibration system, comprising:
- a camera configured to mount on a work machine and to capture images relating to an environment of the work machine;
- and
- a controller configured to:
- obtain, from the camera, based on movement of an implement of the work machine into a first calibration position, a first image depicting the work machine in the environment, and obtain, from the camera, based on movement of the implement of the work machine into a second calibration position, a second image depicting the work machine in the environment,
- wherein the implement of the work machine has moved in a depiction of the second image relative to the first image;
- generate a difference image that depicts a region of difference between the first image and the second image;
- and
- perform object detection on image data from the camera based on the difference image,
- wherein the region of difference depicted in the difference image is an exclusion zone for the object detection.
A method, comprising:
- obtaining, from a camera, based on movement of an implement of a work machine into a first position or movement of the work machine to a first location, a first image depicting the work machine in an environment, and obtaining, from the camera, based on movement of the implement of the work machine into a second position or movement of the work machine to a second location, a second image depicting the work machine in the environment,
- wherein the implement of the work machine has moved, or the work machine has moved in the environment, in a depiction of the second image relative to the first image;
- generating a difference image that depicts a region of difference between the first image and the second image;
- and
- performing object detection on image data from the camera based on the difference image,
- wherein the region of difference depicted in the difference image is an exclusion zone or an inclusion zone used for the object detection.
A work machine, comprising:
- a frame;
- an implement connected to the frame;
- a camera configured to capture images relating to an environment of the work machine;
- and
- a controller configured to:
- obtain, from the camera, based on movement of the implement of the work machine into a first position or movement of the work machine to a first location, a first image depicting the work machine in the environment, and obtain, from the camera, based on movement of the implement of the work machine into a second position or movement of the work machine to a second location, a second image depicting the work machine in the environment,
- wherein the second image differs from the first image by a depiction of the work machine or the environment;
- generate a difference image that depicts a region of difference between the first image and the second image;
- and
- perform object detection on image data from the camera based on the difference image,
- wherein the region of difference depicted in the difference image is an exclusion zone or an inclusion zone used for the object detection.
Dependencies are inferred from the claim text.