Method, apparatus and system for detecting a supporting surface region in an image

摘要

-39 Abstract METHOD, APPARATUS AND SYSTEM FOR DETECTING A SUPPORTING SURFACE REGION IN AN IMAGE A method of detecting a supporting surface region in an image captured by a camera (e.g., 101), is disclosed. An object in the image is detected. One or more regions of the image in which a lower part of the detected object exists are determined. A degree of confidence for each of the regions is determined. The degree of confidence indicates 0 likelihood of a corresponding region being a supporting surface region. One or more of the regions are selected based on each corresponding degree of confidence. Similarity of other regions in the image to at least one of the selected regions is determined. The supporting surface region is detected based on the determined similarity. 6821183vl (P051764_As Filed) -3/ 11 Start 200 Target detection and tracking / 2 10 25 Determine Determine Segment :245 motion camera background envelopes orientation frame Detect visible/ 25 footprints Construct floor appearance model Detect persistent 2 0 silhouette boundaries 2I and determine static occlusion likelihood Determine floor region likelihood Fig. 2 6821065vl (P051764_DrawingsAs Filed)