3D object segmentation

US9866815B2 · kind B2 · utility

Assignee

• QUALCOMM Incorporated · US

Inventors

• Bojan Vrcelj · San Diego, US
• Young Hoon Lee · New York, US
• Gerhard Reitmayr · Del Mar, US

Key dates

• Filing date: Sep 25, 2015
• Grant date: Jan 9, 2018
• Expiry date: May 6, 2036

Classification

• Technology area (CPC H): Electricity
• CPC primary: H04N2013/0092
• WIPO field: Audio-visual technology
• WIPO sector: Electrical engineering

Abstract

Disclosed are a system, apparatus, and method for 3D object segmentation within an environment. Image frames are obtained from one or more depth cameras or at different times and planar segments are extracted from data obtained from the image frames. Candidate segments that comprise a non-planar object surface are identified from the extracted planar segments. In one aspect, certain extracted planar segments are identified as comprising a non-planar object surface, and are referred to as candidate segments. Confidence of preexisting candidate segments are adjusted in response to determining correspondence with a candidate segment. In one aspect, one or more preexisting candidate segments are determined to comprise a surface of a preexisting non-planar object hypothesis. Confidence in the non-planar object hypothesis is updated in response to determining correspondence with a candidate segment.