System and method of extracting plane features
AssigneeHoneywell International Inc.
InventorOndrej Kotaba
Life of this patent
Estimating the term…
Abstract
A navigation system comprises an image sensor operable to obtain range data for a first scene, and a processing unit coupled to the image sensor. The processing unit is operable to identify one or more plane features, based on the range data, using each of a plurality of scales. The processing unit is further operable to combine each of the one or more plane features with a corresponding plane feature from each of the plurality of scales and to project the one or more combined plane features to a reference orientation.
Claims20
A navigation system, comprising:
- an image sensor operable to obtain range data for a first scene;
- and
- a processing unit coupled to the image sensor and operable to identify one or more plane features, based on the range data, using each of a plurality of scales;
- wherein the processing unit is further operable to combine each of the one or more plane features with a corresponding plane feature from each of the plurality of scales and to project the one or more combined plane features to a reference orientation.
A method of performing navigation tasks, the method comprising:
- obtaining range data of a first scene with an image sensor;
- providing the range data from the image sensor to a processing unit;
- identifying one or more plane features in the scene based on the range data;
- segmenting the scene based on the one or more identified plane features;
- projecting the one or more segmented plane features to a reference orientation;
- and
- analyzing the one or more projected plane features.
A program product comprising program instructions embodied on a processor-readable medium for execution by a programmable processor, wherein the program instructions are operable to cause the programmable processor to:
- calculate, for each of a plurality of scales, a normal vector at each of a plurality of points in a first scene based on range data received from an image sensor;
- compare, for each of the plurality of scales, the difference between the normal vectors at the plurality of points with a threshold, wherein each point, for which the difference is below a threshold, is determined to be a part of a plane feature;
- combine the plane feature with a corresponding plane feature from each of the plurality of scales;
- and
- detect a local maxima in the combined plane feature.
Dependencies are inferred from the claim text.