Determining image feature height disparity

Patent metadata

Field	Value
Publication number	US-11954878-B2
Application number	US-202318184505-A
Country	US
Kind code	B2
Filing date	Mar 15, 2023
Priority date	Jul 11, 2019
Publication date	Apr 9, 2024
Grant date	Apr 9, 2024

Abstract

A device to determine a height disparity between features of an image includes a memory including instructions and processing circuitry. The processing circuitry is configured by the instructions to obtain an image including a first repetitive feature and a second repetitive feature. The processing circuitry is further configured by the instructions to determine a distribution of pixels in a first area of the image, where the first area includes an occurrence of the repetitive features, and to determine a distribution of pixels in a second area of the image, where the second area includes another occurrence of the repetitive features. The processing circuitry is further configured by the instructions to evaluate the distribution of pixels in the first area and the distribution of pixels in the second area to determine a height difference between the first repetitive feature and the second repetitive feature.

First claim

The invention claimed is:

1. A device comprising:
an interface to a camera system; and
processing circuitry configured to:
obtain, via the interface, pixels from the camera system, the pixels of a scene observed by the camera system, the scene including a first repetitive feature and a second repetitive feature;
measure, in a first group of pixels from the pixels, a first ratio of pixels corresponding to the first repetitive feature and pixels corresponding to the second repetitive feature;
measure, in a second group of pixels from the pixels, a second ratio of the pixels corresponding to the first repetitive feature and the pixels corresponding to the second repetitive feature; and
determine a height difference between the first repetitive feature and the second repetitive feature based on a difference between the first ratio and the second ratio.

2. The device of claim 1 , wherein the camera system is a mono camera system or a stereo camera system.

3. The device of claim 2 , wherein the pixels are in a two-dimensional image created from sensors in the camera system.

4. The device of claim 1 , wherein the device is included in a system that includes the camera system.

5. The device of claim 1 , wherein the first group of pixels correspond to a first area of the scene and the second group of pixels correspond to a second area of the scene, wherein the camera system has a first observation angle to the first area of the scene and the camera system has a second observation angle to the second area of the scene, wherein the first observation angle is different than the second observation angle.

6. The device of claim 5 , wherein the height difference is further based on the first observation angle and the second observation angle.

7. The device of claim 1 , wherein the pixels corresponding to the first repetitive feature are identified by a color.

8. The device of claim 7 , wherein the color corresponds to a centroid of colors of the first repetitive feature in the scene.

9. The device of claim 7 , wherein the pixels corresponding to the second repetitive feature are identified by a second color that is different than the color.

10. The device of claim 1 , wherein the pixels corresponding to the first repetitive feature are identified by an intensity level of the pixels.

11. A non-transitory machine readable medium including instructions that, when executed by processing circuitry, cause the processing circuitry to perform operations comprising:
obtaining pixels from a camera system, the pixels of a scene observed by the camera system, the scene including a first repetitive feature and a second repetitive feature;
measuring, in a first group of pixels from the pixels, a first ratio of pixels corresponding to the first repetitive feature and pixels corresponding to the second repetitive feature;
measuring, in a second group of pixels from the pixels, a second ratio of the pixels corresponding to the first repetitive feature and the pixels corresponding to the second repetitive feature; and
determining a height difference between the first repetitive feature and the second repetitive feature based on a difference between the first ratio and the second ratio.

12. The non-transitory machine readable medium of claim 11 , wherein the camera system is a mono camera system or a stereo camera system.

13. The non-transitory machine readable medium of claim 12 , wherein the pixels are in a two-dimensional image created from sensors in the camera system.

14. The non-transitory machine readable medium of claim 11 , wherein the non-transitory machine readable medium is included in a device that is included in a system that includes the camera system.

15. The non-transitory machine readable medium of claim 11 , wherein the first group of pixels correspond to a first area of the scene and the second group of pixels correspond to a second area of the scene, wherein the camera system has a first observation angle to the first area of the scene and the camera system has a second observation angle to the second area of the scene, wherein the first observation angle is different than the second observation angle.

16. The non-transitory machine readable medium of claim 15 , wherein the height difference is further based on the first observation angle and the second observation angle.

17. The non-transitory machine readable medium of claim 11 , wherein the pixels corresponding to the first repetitive feature are identified by a color.

18. The non-transitory machine readable medium of claim 17 , wherein the color corresponds to a centroid of colors of the first repetitive feature in the scene.

19. The non-transitory machine readable medium of claim 17 , wherein the pixels corresponding to the second repetitive feature are identified by a second color that is different than the color.

20. The non-transitory machine readable medium of claim 11 , wherein the pixels corresponding to the first repetitive feature are identified by an intensity level of the pixels.

Assignees

• Raven Ind Inc

Inventors

• Sneyders Yuri
• Preheim John D

Classifications

• G06T7/536 Primary

  from perspective effects, e.g. by using vanishing points · CPC title

• A01C14/00

  Methods or apparatus for planting not provided for in other groups of this subclass · CPC title

• G06T7/66

  of image moments or centre of gravity · CPC title

• G06T7/90

  Determination of colour characteristics · CPC title

• A01B69/001

  Steering by means of optical assistance, e.g. television cameras (steering devices for road marking vehicles E01C23/163) · CPC title