System for three-dimensional object recognition and foreground extraction

摘要

The present invention describes a system for recognizing objects from color images by detecting features of interest, classifying them according to previous objects' features that the system has been trained on, and finally drawing a boundary around them to separate each object from others in the image. Furthermore, local feature detection algorithms are applied to color images, outliers are removed, and resulting feature descriptors are clustered to achieve effective object recognition. Additionally, the present invention describes a system for extracting foreground objects and the correct rejection of the background from an image of a scene. Importantly, the present invention allows for changes to the camera viewpoint or lighting between training and test time. The system uses a supervised-learning algorithm and produces blobs of foreground objects that a recognition algorithm can then use for object detection/recognition.

主权项

1. A system for object recognition, the system comprising:
one or more processors and a memory having instructions such that when the instructions are executed, the one or more processors perform operations of:
receiving a color image;separating the color image into monochrome color channels;detecting a set of features in each of the monochrome color channels; combining the set of features for each of the monochrome color channels to yield a combined feature descriptor describing a set of features in the color image; wherein each detected feature is assigned a class corresponding to its closest matching object in a learned feature database, wherein multiple features are assigned a same class, wherein the set of features contains one or more outlier features which are assigned to an incorrect class, and wherein the set of features for each monochrome color channel is described by a feature descriptor for that channel;
removing the outlier features from the set of features in the color image;clustering features of the same class into clusters within the set of features; anddrawing a boundary around each cluster to create a bound cluster representing a recognized object, whereby objects are recognized in the color image.