US 11,972,607 B2
Plane detection using semantic segmentation
Daniel Ulbricht, Sunnyvale, CA (US); Angela Blechschmidt, San Jose, CA (US); Mohammad Haris Baig, San Jose, CA (US); Tanmay Batra, Mountain View, CA (US); Eshan Verma, Mountain View, CA (US); and Amit Kumar Kc, Sunnyvale, CA (US)
Assigned to APPLE INC., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Feb. 18, 2023, as Appl. No. 18/111,541.
Application 18/111,541 is a continuation of application No. 17/473,469, filed on Sep. 13, 2021, granted, now 11,610,397.
Application 17/473,469 is a continuation of application No. 17/032,213, filed on Sep. 25, 2020, granted, now 11,132,546, issued on Sep. 28, 2021.
Application 17/032,213 is a continuation of application No. 16/360,732, filed on Mar. 21, 2019, granted, now 10,824,864, issued on Nov. 3, 2020.
Claims priority of provisional application 62/689,474, filed on Jun. 25, 2018.
Prior Publication US 2023/0206623 A1, Jun. 29, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 20/10 (2022.01); G06F 18/24 (2023.01); G06T 7/70 (2017.01); G06T 19/00 (2011.01); G06V 30/262 (2022.01)
CPC G06V 20/10 (2022.01) [G06F 18/24 (2023.01); G06T 7/70 (2017.01); G06T 19/006 (2013.01); G06V 30/274 (2022.01); G06T 2200/24 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20084 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining an image of a scene including a plurality of pixels;
obtaining a plurality of points of a point cloud based on the image of the scene;
obtaining an object classification based on the image of the scene, wherein the object classification corresponds to a plurality of pixels respectively associated with a corresponding object in the scene; and
detecting a plane within the scene by identifying at least a subset of the plurality of points of the point cloud that correspond to the object classification.