US 11,861,840 B2
System and method for extracting planar surface from depth image
Ziran Xing, Shanghai (CN); Zhiru Shi, Shanghai (CN); Yi Ma, Shanghai (CN); and Jingyi Yu, Shanghai (CN)
Assigned to SHANGHAITECH UNIVERSITY, Shanghai (CN)
Filed by SHANGHAITECH UNIVERSITY, Shanghai (CN)
Filed on Mar. 31, 2021, as Appl. No. 17/219,555.
Application 17/219,555 is a continuation of application No. PCT/CN2019/110546, filed on Oct. 11, 2019.
Application PCT/CN2019/110546 is a continuation of application No. PCT/CN2018/109795, filed on Oct. 11, 2018.
Prior Publication US 2021/0241462 A1, Aug. 5, 2021
Int. Cl. G06T 7/11 (2017.01); G06T 7/162 (2017.01); G06T 7/187 (2017.01); G06T 7/50 (2017.01)
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
OG exemplary drawing
 
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.