US 11,776,158 B2
Detecting target objects in a 3D space
Stephen Eric Bramlett, Gurley, AL (US); and Michael Harris Rodgers, Huntsville, AL (US)
Assigned to Science Applications International Corporation, Reston, VA (US)
Filed by Science Applications International Corporation, Reston, VA (US)
Filed on Apr. 7, 2022, as Appl. No. 17/715,194.
Application 17/715,194 is a division of application No. 16/779,917, filed on Feb. 3, 2020, granted, now 11,335,026.
Prior Publication US 2022/0392105 A1, Dec. 8, 2022
Int. Cl. G06T 7/70 (2017.01); G06T 7/73 (2017.01); G06T 3/40 (2006.01); G06T 7/33 (2017.01); G06T 7/80 (2017.01); G06T 7/246 (2017.01); G06V 10/25 (2022.01); G06V 10/20 (2022.01); G06V 10/46 (2022.01); G06V 10/75 (2022.01); G06T 7/174 (2017.01); G06V 20/60 (2022.01); G06V 20/52 (2022.01); H04N 23/80 (2023.01); H04N 23/90 (2023.01); H04N 23/695 (2023.01)
CPC G06T 7/74 (2017.01) [G06T 3/4038 (2013.01); G06T 7/174 (2017.01); G06T 7/246 (2017.01); G06T 7/33 (2017.01); G06T 7/70 (2017.01); G06T 7/80 (2017.01); G06V 10/25 (2022.01); G06V 10/255 (2022.01); G06V 10/462 (2022.01); G06V 10/751 (2022.01); G06V 20/52 (2022.01); G06V 20/60 (2022.01); H04N 23/695 (2023.01); H04N 23/80 (2023.01); H04N 23/90 (2023.01); G06T 2207/10016 (2013.01); G06T 2207/20021 (2013.01); G06T 2207/20068 (2013.01); G06T 2207/30212 (2013.01); G06T 2207/30232 (2013.01); G06T 2207/30244 (2013.01); G06V 2201/07 (2022.01)] 23 Claims
OG exemplary drawing
 
1. A method comprising:
determining, based on a plurality of search point spatial positions distributed throughout a three-dimensional search space, and from images from a plurality of cameras positioned to image different portions of the search space, a set of subimages corresponding to at least a portion of the search point spatial positions;
determining, from the set of subimages, a first plurality of subimages to ignore based on a determination that a search point image position, associated with each of the first plurality of subimages, is within a predetermined distance of an edge of an image;
determining, from a portion of the set of subimages that remains after ignoring the first plurality of subimages, a second plurality of subimages comprising a target object image;
determining whether two subimages, of the second plurality of subimages comprising a target object image, comprise target object images corresponding to a same target object;
determining, based on the second plurality of subimages comprising a target object image and based on a determination of whether the two subimages comprise target object images corresponding to a same target object, positions of target objects in the search space; and
outputting information indicating the positions of the target objects.