A method and a system for generating 3d information relating to a scene or area comprising an object
AssigneeCarnegie Robotics, LLC
InventorsDaniel David WILLIAMS, Stephen Paul Elizondo LANDERS, John Paul Thomas ATKINSON
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Abstract
Three-dimensional (3D) information is generated from two or more two-dimensional (2D) images. In the 2D images, one or more objects are identified, and either a corresponding portion of the 3D information representing the same object is identified and/or where the 3D information is corrected correspondingly. The correction may be the leaving out of 3D information representing the object or the correction of the 3D information based on knowledge of a shape of the object.
Claims16
A method of generating object information from a stereo image pair, the method comprising:
- obtaining a stereo image pair comprising a first image and a second image of an area or scene comprising a plurality of objects,
- identifying, in the first image and/or the second image, a first object of the plurality of objects,
- generating, from the stereo image pair, 3D information relating to the scene or area, and
- identifying, based on the identified first object, a portion of the 3D information relating to the first object, the object information relating to the generated information.
A system for generating object information from a stereo image pair, the system comprising:
- an obtaining element configured to obtain a stereo image pair comprising a first image and a second image of an area or scene comprising a plurality of objects,
- a controller configured to:
- identify, in the first image and/or the second image, a first object of the plurality of objects,
- generate, from the stereo image pair, 3D information relating to the scene or area, and
- identify, based on the identified first object, a portion of the 3D information relating to the first object, the object information relating to the generated information.
A method of generating 3D information from a stereo image pair, the method comprising:
- obtaining a stereo image pair comprising a first image and a second image of an area or scene comprising a plurality of objects,
- identifying, in at least one of the first image and the second image, a first object of the plurality of objects,
- generating, from the stereo image pair, the 3D information relating to the scene or area, and
- wherein the generating step excludes a portion of the stereo image pair representing the first object.
A system for generating 3D information from a stereo image pair, the system comprising:
- an obtaining element configured to obtain a stereo image pair comprising a first image and a second image of an area or scene comprising a plurality of objects,
- a controller configured to:
- identify, in at least one of the first image and the second image, a first object of the plurality of objects,
- generate, from the stereo image pair, the 3D information relating to the scene or area, wherein the generation excludes a portion of the stereo image pair representing the first object.
A method of generating 3D information from a stereo image pair, the method comprising:
- obtaining a stereo image pair comprising a first image and a second image of an area or scene comprising a plurality of objects,
- identifying, in the first image and/or the second image, a first object of the plurality of objects,
- obtaining information relating to the shape of the first object,
- generating, from the stereo image pair, 3D information relating to the scene or area, and
- adapting a portion of the 3D information representing the first object based on the obtained shape.
A system for generating 3D information from a stereo image pair, the system comprising:
- an obtaining element configured to obtain a stereo image pair comprising a first image and a second image of an area or scene comprising a plurality of objects,
- a controller configured to:
- identify, in the first image and/or the second image, a first object of the plurality of objects,
- obtain information relating to the shape of the first object,
- generate, from the stereo image pair, 3D information relating to the scene or area, and
- adapt a portion of the 3D information representing the first object based on the obtained shape.
Dependencies are inferred from the claim text.