System and method for object detection

An object detection system for detecting an object in an environment of a machine, the object detection system comprising:

• an image capturing device configured to capture an image of the environment of the machine;
• and
• a controller communicably coupled to the image capturing device, the controller configured to:
• receive the image of the environment of the machine from the image capturing device;
• receive one or more internal parameters associated with an intrinsic calibration of the image capturing device;
• receive one or more external parameters associated with an extrinsic calibration of the image capturing device;
• apply, through the controller, an object detection process on one or more scaled versions of the image to detect the object and to determine a score indicating a probability that the object detected in the one or more scaled versions of the image matches a predefined set of characteristics;
• determine, through the controller, a scale of the image in which the object is detected;
• determine, through the controller, a first height of the object based on the scale of the image in which the object is detected;
• determine, through the controller, a bounding box comprising a group of pixels defining the object detected in the image;
• determine, through the controller, a minimum vertical pixel and a maximum vertical pixel associated with the object based on the group of pixels within the bounding box;
• determine, through the controller, a range of the object based on the minimum vertical pixel, the one or more internal parameters and the one or more external parameters;
• determine, through the controller, a second height of the object based on the range, the minimum vertical pixel, the maximum vertical pixel, the one or more internal parameters and the one or more external parameters;
• compare, through the controller, the first height with the second height;
• and
• modify, through the controller, the score based on whether a difference between the first height and the second height meets a predetermined criterion.

A machine comprising:

• an undercarriage assembly,
• an upper swiveling body supported on the undercarriage assembly;
• an engine to provide power to propel the machine;
• an image capturing device configured to capture an image of an environment of the machine, wherein the image capturing device is located onboard the machine;
• a display configured to display the image of the environment of the machine;
• and
• a controller communicably coupled to the image capturing device and the display, wherein the controller is configured to:
• receive the image of the environment of the machine from the image capturing device;
• receive one or more internal parameters associated with an intrinsic calibration of the image capturing device;
• receive one or more external parameters associated with an extrinsic calibration of the image capturing device;
• apply, through the controller, an object detection process on one or more scaled versions of the image to detect the object and to determine a score indicating a probability that the object detected in the one or more scaled versions of the image matches a predefined set of characteristics;
• determine, through the controller, a scale of the image in which the object is detected;
• determine, through the controller, a first height of the object based on the scale of the image in which the object is detected;
• determine, through the controller, a bounding box comprising a group of pixels defining the object detected in the image;
• determine, through the controller, a minimum vertical pixel and a maximum vertical pixel associated with the object based on the group of pixels within the bounding box;
• determine, through the controller, a range of the object based on the minimum vertical pixel, the one or more internal parameters and the one or more external parameters;
• determine, through the controller, a second height of the object based on the range, the minimum vertical pixel, the maximum vertical pixel, the one or more internal parameters and the one or more external parameters;
• compare, through the controller, the first height with the second height;
• and
• modify, through the controller, the score based on whether a difference between the first height and the second height meets a predetermined criterion.