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US 2022/0012893 A1Published application
Sky segmentor using canny lines
AssigneeAurora Flight Sciences Corporation, a subsidiary of The Boeing Company
InventorBenjamin Jafek
Life of this patent
Estimating the term…
Abstract
A method includes receiving a first image. The method also includes detecting a plurality of edges in the first image. The method also includes connecting the edges. The method also includes identifying a contour in the first image based at least partially upon the connected edges. The method also includes determining a convex hull of the contour. The method also includes generating a second image comprising the convex hull.
Claims20
A method, comprising
- receiving a first image;
- detecting a plurality of edges in the first image;
- connecting the edges;
- identifying a contour in the first image based at least partially upon the connected edges;
- determining a convex hull of the contour;
- and
- generating a second image comprising the convex hull.
4 more elements
A computing system comprising:
- one or more processors;
- and
- a memory system comprising one or more non-transitory computer-readable media storing instructions that, when executed by at least one of the one or more processors, cause the computing system to perform operations, the operations comprising:
- receiving a first image, wherein the first image is captured by a camera on an aircraft in flight;
- detecting a plurality of edges in the first image based at least partially upon a threshold;
- connecting the edges;
- identifying a largest contour in the first image based at least partially upon the connected edges;
- determining a convex hull of the largest contour, wherein the convex hull represents a portion of a ground region in the first image;
- and
- generating a second image comprising the convex hull, wherein a plurality of first pixels in the second image represent the convex hull, and wherein a plurality of second pixels in the second image do not represent the convex hull.
7 more elements
A computing system comprising:
- one or more processors;
- and
- a memory system comprising one or more non-transitory computer-readable media storing instructions that, when executed by at least one of the one or more processors, cause the computing system to perform operations, the operations comprising:
- receiving a first image, wherein the first image is captured by a camera on a vehicle;
- detecting a plurality of edges in the first image based at least partially upon a threshold;
- connecting the edges, wherein the edges are connected using morphological closing with a square kernel, and wherein the morphological closing uses a kernel having an area from about 20 pixels to about 50 pixels;
- identifying a largest contour in the first image based at least partially upon the connected edges, wherein the largest contour comprises a largest area;
- determining a convex hull of the largest contour, wherein the convex hull represents a portion of a ground region in the first image;
- generating a second image comprising the convex hull, wherein a plurality of first pixels having a first color in the second image represent the convex hull, and wherein a plurality of second pixels having a second color in the second image do not represent the convex hull;
- identifying a bottom-most first pixel in each column in the second image;
- converting the second pixels that are below the bottom-most first pixel in each column to first pixels to produce a modified second image, wherein the first pixels in the modified second image represent the ground region, and wherein the second pixels in the modified second image represent a sky region;
- and
- combining at least a portion of the first image and at least a portion of the modified second image to produce a combined image.
10 more elements
Dependencies are inferred from the claim text.