On-floor obstacle detection method and mobile machine using the same
US11734850B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Apr 26, 2021 |
| Grant date | Aug 22, 2023 |
| Priority date | — |
| Expiry date | Jan 11, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30261
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
On-floor obstacle detection using an RGB-D camera is disclosed. An obstacle on a floor is detected by receiving an image including depth channel data and RGB channel data through the RGB-D camera, estimating a ground plane corresponding to the floor based on the depth channel data, obtaining a foreground of the image corresponding to the ground plane based on the depth channel data, performing a distribution modeling on the foreground of the image based on the RGB channel data to obtain a 2D location of the obstacle, and transforming the 2D location of the obstacle into a 3D location of the obstacle based on the depth channel data.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.