US 12,367,599 B2
Planar surface detection apparatus and method
Seungeon Kim, Icheon (KR); Hyun Sung Chang, Seoul (KR); Wonhee Lee, Yongin-si (KR); and Seokhwan Jang, Anyang-si (KR)
Assigned to Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Mar. 18, 2022, as Appl. No. 17/698,577.
Claims priority of application No. 10-2021-0144225 (KR), filed on Oct. 27, 2021.
Prior Publication US 2023/0132106 A1, Apr. 27, 2023
Int. Cl. G06T 7/55 (2017.01); G06N 3/045 (2023.01); G06N 3/08 (2023.01)
CPC G06T 7/55 (2017.01) [G06N 3/045 (2023.01); G06N 3/08 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/20224 (2013.01); G06T 2207/20228 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of detecting a planar surface, the method comprising:
acquiring, based on a pixelwise disparity of an input image estimated in a first network, a pixelwise plane parameter of the input image;
determining a pixelwise segment matching probability of the input image based on a second network trained to perform a segmentation of an image;
acquiring a segment-wise plane parameter by calculating a weighted sum of pixelwise plane parameter based on the pixelwise segment matching probability corresponding to each segment in the image; and
detecting a planar surface in the input image based on the segment-wise plane parameter.