公开(公告)号：US08594378B2

公开(公告)日：2013-11-26

申请号：US13372112

申请日：2012-02-13

申请人： Daishi Mori ,  Kousuke Munakata ,  Hiroki Oba

发明人： Daishi Mori ,  Kousuke Munakata ,  Hiroki Oba

IPC分类号： G06K9/00 ,  H04N5/225

CPC分类号： G06T7/20 ,  G06T2207/30248

摘要： A 3D-object detecting apparatus may include a detection-image creating device configured to detect a 3D object on an image-capture surface from an image captured by an image-capture device and to create a detection image in which a silhouette of only the 3D object is left; a density-map creating device configured to determine the 3D objects spatial densities at corresponding coordinate points in a coordinate plane on the basis of the detection image and mask images obtained for the corresponding coordinate points on the basis of virtual cuboids arranged for the corresponding coordinate points and to create a density map having pixels for the corresponding coordinate points such that the pixels have pixel values corresponding to the determined spatial densities; and a 3D-object position detecting device that detects the position of the 3D object as a representative point in a high-density region in the density map.

摘要翻译： 3D对象检测装置可以包括检测图像生成装置，其被配置为从图像拍摄装置捕获的图像中检测图像拍摄表面上的3D对象，并且创建检测图像，其中只有3D 物体留下 密度图生成装置，被配置为基于检测图像确定坐标平面中的相应坐标点处的3D对象空间密度，并且基于为相应的坐标点布置的虚拟长方体而获得的对应坐标点的掩模图像 并且创建具有用于相应坐标点的像素的密度图，使得像素具有对应于所确定的空间密度的像素值; 以及三维物体位置检测装置，其检测作为密度图的高密度区域中的代表点的3D物体的位置。

公开(公告)号：US20120219183A1

公开(公告)日：2012-08-30

申请号：US13372112

申请日：2012-02-13

申请人： Daishi Mori ,  Kousuke Munakata ,  Hiroki Oba

发明人： Daishi Mori ,  Kousuke Munakata ,  Hiroki Oba

IPC分类号： G06K9/00

CPC分类号： G06T7/20 ,  G06T2207/30248

摘要： A 3D-object detecting apparatus may include a detection-image creating device configured to detect a 3D object on an image-capture surface from an image captured by an image-capture device and to create a detection image in which a silhouette of only the 3D object is left; a density-map creating device configured to determine the 3D objects spatial densities at corresponding coordinate points in a coordinate plane on the basis of the detection image and mask images obtained for the corresponding coordinate points on the basis of virtual cuboids arranged for the corresponding coordinate points and to create a density map having pixels for the corresponding coordinate points such that the pixels have pixel values corresponding to the determined spatial densities; and a 3D-object position detecting device that detects the position of the 3D object as a representative point in a high-density region in the density map.

摘要翻译： 3D对象检测装置可以包括检测图像生成装置，其被配置为从图像拍摄装置捕获的图像中检测图像拍摄表面上的3D对象，并且创建检测图像，其中只有3D 物体留下 密度图生成装置，被配置为基于检测图像确定坐标平面中的相应坐标点处的3D对象空间密度，并且基于为相应的坐标点布置的虚拟长方体而获得的对应坐标点的掩模图像 并且创建具有用于相应坐标点的像素的密度图，使得像素具有对应于所确定的空间密度的像素值; 以及三维物体位置检测装置，其检测作为密度图的高密度区域中的代表点的3D物体的位置。