CPC G06T 7/11 (2017.01) [G06T 7/162 (2017.01); G06T 7/187 (2017.01); G06T 7/50 (2017.01); G06T 2207/10028 (2013.01)] | 20 Claims |
1. A method of imaging processing for extracting a plurality of planar surfaces from a depth map, comprising:
computing a depth change indication map (DCI) from a depth map in accordance with a smoothness threshold;
recursively extracting a plurality of planar region from the depth map, wherein the size of each planar region is dynamically adjusted according to the DCI;
clustering the extracted planar regions into a plurality of groups in accordance with a distance function; and
growing each group to generate pixel-wise segmentation results and inlier points statistics simultaneously.
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