| 摘要 |
A system includes a first camera defining a first camera coordinate system (C1) and configured to acquire a first image of a scene. A range sensor is spaced a first distance from the first camera and defines a range sensor coordinate system (R). A controller is operatively connected to the first camera and range sensor. The controller has a processor and a tangible, non-transitory memory device on which is recorded instructions for executing a method for obtaining a two-dimensional region of interest (u1*, v1*) in the first image, which is a two-dimensional intensity image. The first image is represented by a plurality of first points (u1, v1) in a first image plane. The controller is configured to acquire a range image of the scene with the range sensor. The range image is represented by a plurality of second points (u2, v2, d) in a second image plane. |
| 主权项 |
1. A system comprising:
a first camera defining a first camera coordinate system (C1) and configured to acquire a first image of a scene; a range sensor spaced a first distance from the first camera and defining a range sensor coordinate system (R); a controller operatively connected to the first camera and range sensor, the controller having a processor and a tangible, non-transitory memory device on which is recorded instructions for executing a method for obtaining a two-dimensional region of interest (u1*, v1*) in the first image; wherein execution of the instructions by the processor causes the controller to:
acquire the first image of the scene with the first camera, the first image being represented by a plurality of first points (u1, v1) in a first image plane;acquire a range image of the scene with the range sensor, the range image being represented by a plurality of second points (u2, v2, d) in a second image plane;convert the range image to a three-dimensional sample of points (x2, y2, z2) in the range sensor coordinate system (R);select a three-dimensional region of interest (x2*, y2*, z2*) in the range sensor coordinate system (R) from the three-dimensional sample of points (x2, y2, z2); wherein the selected three-dimensional region of interest (x2*, y2*, z2*) in the range sensor coordinate system (R) includes only objects in the scene on a surface of or within a three-dimensional volume, the three-dimensional volume defining selected points; wherein a spatial location of each of the selected points is a function of time; wherein the selected three-dimensional region of interest (x2*, y2*, z2*) in the range sensor coordinate system (R) includes only objects in the scene that are less than a minimum distance from the range sensor; and wherein said converting the range image to a three-dimensional sample of points (x2, y2, z2) in the range sensor coordinate system (R) includes:
obtaining a conversion matrix (P2) for converting the range sensor coordinate system (R) to the second image plane; andusing an inverse of the conversion matrix for converting the range image to the three-dimensional sample of points (x2, y2, z2). |
