US 12,354,385 B2
Image processing method and apparatus, electronic device, and computer-readable storage medium for identifying two-dimensional shapes using a depth image
Shenghao Zhang, Shenzhen (CN); Yonggen Ling, Shenzhen (CN); Wanchao Chi, Shenzhen (CN); Yu Zheng, Shenzhen (CN); and Xinyang Jiang, Shenzhen (CN)
Assigned to TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen (CN)
Filed by Tencent Technology (Shenzhen) Company Limited, Shenzhen (CN)
Filed on Sep. 1, 2022, as Appl. No. 17/901,704.
Application 17/901,704 is a continuation of application No. PCT/CN2021/102741, filed on Jun. 28, 2021.
Claims priority of application No. 202010825936.3 (CN), filed on Aug. 17, 2020.
Prior Publication US 2022/0415064 A1, Dec. 29, 2022
Int. Cl. G06V 20/64 (2022.01); G06T 7/564 (2017.01); G06T 7/62 (2017.01); G06T 7/70 (2017.01); G06T 11/00 (2006.01)
CPC G06V 20/653 (2022.01) [G06T 7/564 (2017.01); G06T 7/62 (2017.01); G06T 7/70 (2017.01); G06T 11/003 (2013.01); G06T 2207/10028 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An image processing method performed by an electronic device, the method comprising:
obtaining a depth image of a target object in a three-dimensional coordinate system by using a first image capture device;
obtaining a pose matrix of the first image capture device in the three-dimensional coordinate system;
performing coordinate transformation on the depth image according to the pose matrix of the first image capture device, to obtain a first target three-dimensional image of the target object in the three-dimensional coordinate system;
determining a target plane of the target object in the first three-dimensional image via plane fitting, the target plane comprising target three-dimensional points in the three-dimensional coordinate system;
projecting the target three-dimensional points to a two-dimensional coordinate system defined on the target plane, to obtain target two-dimensional points in the two-dimensional coordinate system;
determining a target polygon and a minimum circumscribed target graphic of the target polygon in the two-dimensional coordinate system according to the target two-dimensional points, wherein the minimum circumscribed target graphic is a target minimum circumscribed circle;
obtaining a first target center of the target minimum circumscribed circle in the two-dimensional coordinate system;
mapping the first target center from the two-dimensional coordinate system to the three-dimensional coordinate system, to obtain a target coordinate value of the first target center in the three-dimensional coordinate system, the target coordinate value being a first center coordinate value of the first target circle in the three-dimensional coordinate system; and
recognizing the target minimum circumscribed circle as a first target circle of the target object in the first target three-dimensional image when an area ratio between the target polygon and the target minimum circumscribed circle is greater than a predefined threshold.