Range-cued object segmentation system and method
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United States of America Patent
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Sep 2, 2014
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N/A
app pub date -
May 7, 2012
filing date -
Mar 26, 2012
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Abstract
Objects in a range map image are clustered into regions of interest responsive to range as determined from either a separate ranging system or from a top-down transformation of a range map image from a stereo vision system. A relatively-central location of each region of interest is transformed to mono-image geometry, and the corresponding portion of an associated mono-image is searched radially outwards from the relatively-central location along a plurality of radial search paths, along which the associated image pixels are filtered using an Edge-Preserving Smoothing filter in order to find an edge of the associated object along the radial search path. Edge locations for each of the radial search paths are combined in an edge profile vector that provides for discriminating the object.
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