US 12,340,519 B2
Extracting trajectories from arrow pictograms
Jayakorn Vongkulbhisal, Tokyo (JP); and Pablo Salvador Loyola Heufemann, Tokyo (JP)
Assigned to INTERNATIONAL BUSINESS MACHINES CORPORATION, Armonk, NY (US)
Filed by INTERNATIONAL BUSINESS MACHINES CORPORATION, Armonk, NY (US)
Filed on Dec. 15, 2021, as Appl. No. 17/551,825.
Prior Publication US 2023/0186484 A1, Jun. 15, 2023
Int. Cl. G06T 7/20 (2017.01); B60W 30/09 (2012.01); G06T 3/18 (2024.01); G06T 7/70 (2017.01)
CPC G06T 7/20 (2013.01) [B60W 30/09 (2013.01); G06T 3/18 (2024.01); G06T 7/70 (2017.01); B60W 2420/403 (2013.01); G06T 2207/30241 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A computer-implemented method for extracting a trajectory of an arrow in a binary image, comprising:
acquiring a binary image of an arrow;
extracting a skeleton of the arrow;
splitting the skeleton into bones;
for each of the bones, by a processor device,
extending a bone to obtain an extended bone having both ends of the bone reaching a border of the arrow;
warping the extended bone into a straight line using a thin plate spline;
warping the binary image into a warped image using a thin plate spline with same parameters as the thin plate spline used to warp the extended bone into the straight line;
selecting a component that includes a center point of the warped image; and
computing a symmetric error of the selected component; and
selecting, as the trajectory of the arrow, a bone where the selected component has the lowest symmetric error; and
automatically controlling a vehicle system responsive to the trajectory of the arrow.