OBJECT DETECTION SYSTEM

摘要

In a method involving the recognition of ambiguous objects from samples of 3D points, an initial constant is set for properties of prospective points of an object, and a sample of 3D points is received from a 3D sensor. When the sensed locations in space of points of objects represented by the 3D points are the same as those for the prospective points of an object, they are redefined as an actual points of objects, and the initial constants are replaced with corresponding properties represented by the 3D points. An ambiguous object is then recognized from a sparsely populated cluster of actual points of an object identified based on the replacement of the initial constants. The ambiguous object is confirmed based on signals representing its surface properties received from a polarization image sensor.

主权项

1. A method, comprising:
setting, using a detection module executable by at least one processor, an initial constant for at least one property of each of a plurality of prospective points of an object having respective locations in space; receiving, using the detection module executable by the at least one processor, from a 3D sensor, a sample of 3D points each representing a sensed location in space of a point of an object, and at least one sensed property of the point of an object; using the detection module executable by the at least one processor, for each 3D point in the sample, when the sensed location in space of the point of an object represented by the 3D point is the same as the location in space of a prospective point of an object, redefining the prospective point of an object as an actual point of an object, and replacing the initial constant set for the at least one property of the actual point of an object with the at least one sensed property of the point of an object represented by the 3D point; recognizing, using the detection module executable by the at least one processor, an ambiguous object from a sparsely populated cluster of actual points of an object identified based on the replacement of the initial constant set for the at least one property of the actual points of an object in the cluster with the least one sensed property of the points of objects represented by the 3D points; and confirming, using the detection module executable by the at least one processor, the ambiguous object based on signals representing its surface properties received from a polarization image sensor.