Method and apparatus with grid-based plane estimation
US10628999B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 24, 2018 |
| Grant date | Apr 21, 2020 |
| Priority date | — |
| Expiry date | May 24, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V20/20
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A processor-implemented method of estimating a plane includes dividing a target image into a plurality of grid cells, estimating an initial plane based on reference feature points comprising a reference feature point selected from each of the plurality of grid cells, classifying each feature point of feature points extracted from the target image as being an inlier located on the same plane as the initial plane or an outlier located on a plane different from the initial plane, selecting boundary grid cells from the plurality of grid cells based on a distribution of the inliers and the outliers from among the feature points, and estimating an expanded plane associated with the initial plane based on the selected boundary grid cells for use in identifying boundaries of a planar surface presented in a scene corresponding to the target image.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.