US 12,456,210 B2
Scene contour recognition in video based on depth information
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, Guangdong (CN)
Filed on Aug. 22, 2022, as Appl. No. 17/893,007.
Application 17/893,007 is a continuation of application No. PCT/CN2021/112058, filed on Aug. 11, 2021.
Claims priority of application No. 202010899315.X (CN), filed on Aug. 31, 2020.
Prior Publication US 2022/0414910 A1, Dec. 29, 2022
Int. Cl. G06T 7/55 (2017.01); G06V 10/44 (2022.01); G06V 20/10 (2022.01)
CPC G06T 7/55 (2017.01) [G06V 10/44 (2022.01); G06V 20/10 (2022.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A scene contour recognition method, the method comprising:
obtaining a plurality of scene images of an environment;
determining three-dimensional (3D) information of a target plane in the plurality of scene images based on depth information for each of the plurality of scene images, the target plane corresponding to a target object in the plurality of scene images, the 3D information of the target plane including a plane equation of the target plane and 3D coordinates corresponding to points on the target plane;
generating a 3D contour corresponding to the target object by fusing the target plane in each of the plurality of scene images based on the 3D information of the target plane in each of the plurality of scene images; and
generating a contour diagram of the target object by projecting the 3D contour onto a two-dimensional (2D) plane, wherein
the determining the 3D information of the target plane includes:
detecting the target plane in the plurality of scene images with plane fitting based on the depth information of the plurality of scene images; and
determining the 3D coordinates corresponding to the points on the target plane, and the plane equation of the target plane in a world coordinate system for the target plane in the plurality of scene images.