3D object segmentation

A machine readable non-transitory storage medium having stored therein program instructions that are executable by a processor to:

• extract a first plurality of planar segments from image frame depth data;
• identify, from the extracted first plurality of planar segments, one or more first candidate segments comprising a non-planar object surface;
• update a confidence of a preexisting candidate segment in response to determining correspondence with the one or more first candidate segments;
• determine the preexisting candidate segment comprises a surface of a first preexisting non-planar object hypothesis;
• and
• update a confidence of the first preexisting non-planar object hypothesis in response to determining correspondence with the one or more first candidate segments wherein the confidence of the first preexisting non-planar object hypothesis indicates a likelihood of the first preexisting non-planar object occupying a volume.

A device to provide 3D object detection, the device comprising:

• memory;
• and
• a processor coupled to the memory and configured to:
• extract a first plurality of planar segments from image frame depth data;
• identify, from the extracted first plurality of planar segments, one or more first candidate segments comprising a non-planar object surface;
• update a confidence of a preexisting candidate segment in response to determining correspondence with the one or more first candidate segments;
• determine the preexisting candidate segment comprises a surface of a first preexisting non-planar object hypothesis;
• and
• update a confidence of the first preexisting non-planar object hypothesis in response to determining correspondence with the one or more first candidate segments wherein the confidence of the first preexisting non-planar object hypothesis indicates a likelihood of the first preexisting non-planar object occupying a volume.

An apparatus for performing 3D object detection, the apparatus comprising:

• means for extracting a first plurality of planar segments from image frame depth data;
• means for identifying, from the extracted first plurality of planar segments, one or more first candidate segments comprising a non-planar object surface;
• means for updating a confidence of a preexisting candidate segment in response to determining correspondence with the one or more first candidate segments;
• means for determining the preexisting candidate segment comprises a surface of a first preexisting non-planar object hypothesis;
• and
• means for a confidence of the first preexisting non-planar object hypothesis in response to determining correspondence with the one or more first candidate segments, wherein the confidence of the first preexisting non-planar object hypothesis indicates a likelihood of the first preexisting non-planar object occupying a volume.