Combining two-dimensional images with depth data to detect junctions or edges
AssigneeAutodesk, Inc.
InventorLuc Franck Robert
Life of this patent
Estimating the term…
Abstract
A method, system, apparatus, article of manufacture, and computer program product provide the ability to detect junctions. 3D pixel image data is obtained/acquired based on 2D image data and depth data. Within a given window over the 3D pixel image data, for each of the pixels within the window, an equation for a plane passing through the pixel is determined/computed. For all of the determined planes within the given window, an intersection of all of the planes is computed. A spectrum of the intersection/matrix is analyzed. Based on the spectrum, a determination is made if the pixel at the intersection is of 3 or more surfaces, 2 surfaces, or is 1 surface.
Claims16
A computer-implemented method for detecting a feature in three-dimensional (3D) space, comprising:
- obtaining three-dimensional (3D) pixel image data based on two-dimensional (2D) image data and depth data for the 2D image data;
- within a given window over the 3D pixel image data, for each of one or more pixels within the given window, determining an equation for a plane passing through the pixel;
- computing, for all of the determined planes within the given window, an intersection of all of the planes;
- analyzing a spectrum of the intersection;
- and
- based on the spectrum, determining if the pixel at the intersection is of three (3) or more surfaces, two (2) surfaces, or is one (1) surface.
An computer-implemented system for detecting a feature in a computer system comprising:
- (a) a computer having a processor;
- (b) an image acquiring device, communicatively coupled to the computer, that acquires three-dimensional (3D) pixel image data based on two-dimensional (2D) image data and depth data, from an depth sensing device, for the 2D image data;
- (c) an application, executing on the computer, wherein the application is configured to:
- (1) within a given window over the 3D pixel image data, for each of one or more pixels within the given window, determine an equation for a plane passing through the pixel;
- (2) compute, for all of the determined planes within the given window, an intersection of all of the planes;
- (3) analyzing a spectrum of the intersection;
- and
- (4) based on the spectrum, determining if the pixel at the intersection is of three (3) or more surfaces, two (2) surfaces, or is one (1) surface.
Dependencies are inferred from the claim text.