Apparatus, systems, and methods for processing a height map

摘要

The disclosed apparatus, systems, and methods can process height maps. For example, the disclosed computerized method of determining posture information of an object in a two-dimensional height map captured by a range sensor system can include receiving the height map of the object captured by the range sensor system, generating a plurality of one-dimensional slices of the height map and a location record indicating locations of the plurality of one-dimensional slices on the height map, identifying points of interest in the plurality of one-dimensional slices, determining locations of the identified points of interest in the height map based on the location record, and determining the posture information of the object based on the locations of the identified points of interest in the height map.

主权项

1. A computerized method of determining posture information of an object in a height map comprising a plurality of pixels captured by a range sensor system, the method comprising:
receiving, at a slice generation module in a computing device, the height map of the object captured by the range sensor system; providing, by the slice generation module, a plurality of line segments over the height map, wherein each line segment has a plurality of slots; determining, by the slice generation module, a plurality of visibility slices, wherein each visibility slice is associated with one of the line segments and comprises a plurality of visibility values, where each visibility value indicates a proportion of missing height values amongst pixels underlying one of the plurality of slots of the associated line segment; extracting, by the slice generation module, a plurality of one-dimensional slices from the height map, wherein extracting the plurality of one-dimensional slices comprises determining an appropriate height map value for each of the plurality of slots in the line segment based on a subset of the plurality of pixels contained within each of the plurality of slots with non-missing height values; extracting, by the slice generation module, a location record indicating locations of the plurality of one-dimensional slices within the height map; identifying, by a posture information generation module in the computing device, a location of at least one point of interest in the height map by analyzing the plurality of extracted one-dimensional slices, the location record, and the plurality of visibility slices; and determining, by the posture information generation module, the posture information of the object based on the location of the at least one point of interest in the height map.