FAST AND ROBUST IDENTIFICATION OF EXTREMITIES OF AN OBJECT WITHIN A SCENE

摘要

Described herein are a system and method for identifying extremities of an object within a scene. The method comprises operating an image processing system to receive image data from a sensor. The image data represents an image of the scene with the object. The image data comprises a two-dimensional array of pixels and each pixel contains a depth value indicating distance from the sensor. The image processing system slices the image into slices. Each respective slice comprises those pixels with depth values that lie within a respective range of distances defined relative to a reference. For each of the slices, the method identifies one or more connected regions of pixels that are neighbors in the two-dimensional array of pixels. The method builds, based on the connected region of pixels that have been identified for the slices and depth information inherent to the respective slices, a graph consisting of interconnected nodes. The connected regions form the nodes of the graph and the nodes are interconnected in the graph based on their relative distance to the reference. Extremities of the object are determined based on the graph.