Method for Determining Dimensions in an Indoor Scene from a Single Depth Image

Patent metadata

Field	Value
Publication number	US-2016321827-A1
Application number	US-201514698200-A
Country	US
Kind code	A1
Filing date	Apr 28, 2015
Priority date	Apr 28, 2015
Publication date	Nov 3, 2016
Grant date	—

Abstract

A method determines dimensions in a scene by first acquiring a depth image of the scene acquired by a sensor, and extracting planes from the depth image. Topological relationships of the planes are determined. The dimensions are determined based on the planes and the topological relationships. A quality of the dimensions is evaluated using a scene type, and if the quality is sufficient outputting the dimensions, and otherwise outputting a guidance to reposition the sensor.

First claim

1 . A method for determining dimensions in a scene, comprising steps of:
acquiring a depth image of the scene acquired by a sensor; extracting planes from the depth image; determining topological relationships of the planes; determining the dimensions based on the planes and the topological relationships; evaluating a quality of the dimensions using a scene type, and if the quality is sufficient; then outputting the dimensions; otherwise outputting a guidance to reposition the sensor, and wherein the steps are performed in a processor.

2 . The method of claim 1 , wherein the depth image is combined with a red, green, and blue (RGB) image of the scene to form an RGB-depth image.

3 . The method of claim 1 , wherein the guidance is output to a user.

4 . The method of claim 1 , wherein the guidance is output to a robot on which the sensor is arranged.

5 . The method of claim 1 , wherein the extracting further comprises:
segmenting pixels in the depth image into groups; representing the groups as nodes in a graph, wherein edges represent neighbouring groups; and applying agglomerative hierarchical clustering to the graph to merge nodes on the same plane.

6 . The method of claim 1 , wherein the topological relationships include:
parallel planes if normal vectors of two planes are parallel to each other; coplanar planes if two planes have identical parameters; intersecting planes if two planes are not parallel; and perpendicular planes if the normal vectors of two planes are perpendicular to each other.

7 . The method of claim 1 , further comprising:
using a least squares procedure for extracting the planes.

8 . The method of claim 1 , wherein the scene type defines a predetermined shape.

9 . The method of claim 8 , wherein the predetermined shape includes a box shape and an opening shape.

10 . The method of claim 9 , wherein the box shape contains two sets of two parallel planes and the two sets are perpendicular to each other.

11 . The method of claim 9 , wherein the opening shape contains two coplanar planes and a plane that is perpendicular to the two coplanar planes.

12 . A non-transitory computer-readable recording medium having stored therein a program that causes a computer to execute a process for determining dimensions in a scene, the process comprising steps of:
acquiring a depth image of the scene acquired by a sensor; extracting planes from the depth image; determining topological relationships of the planes; determining the dimensions based on the planes and the topological relationships; evaluating a quality of the dimensions using a scene type, and if the quality is sufficient; then outputting the dimensions; otherwise outputting a guidance to reposition the sensor.

13 . A dimension determining device including a processor in communication with a memory, the device comprising:
a depth sensor configured to acquire a depth image in the scene and transmit the depth image with a color image, wherein the memory is configured to store a program that causes the processor to execute a process for determining dimensions in a scene, wherein the process comprises steps of: acquiring a depth image of the scene acquired by a sensor; extracting planes from the depth image; determining topological relationships of the planes; determining the dimensions based on the planes and the topological relationships; evaluating a quality of the dimensions using a scene type, and if the quality is sufficient; then outputting the dimensions; otherwise outputting a guidance to reposition the sensor.

Assignees

• Mitsubishi Electric Res Laboratories Inc

Inventors

• Xiao Yong
• Feng Chen
• Taguchi Yuichi
• Kamat Vineet R

Classifications

• G06V10/7625

  Hierarchical techniques, i.e. dividing or merging patterns to obtain a tree-like representation; Dendograms · CPC title

• G06F18/231

  Hierarchical techniques, i.e. dividing or merging pattern sets so as to obtain a dendrogram · CPC title

• G06V20/10

  Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59) · CPC title

• G06T2207/10004

  Still image; Photographic image · CPC title

• G06T2207/10024

  Color image · CPC title