公开(公告)号：US09552640B2

公开(公告)日：2017-01-24

申请号：US13669960

申请日：2012-11-06

Applicant: Samsung Electronics Co., Ltd.

Inventor： Suk June Yoon ,  Hyo Seok Hwang ,  Sung Hwan Ahn ,  Seong Yong Hyung ,  Hyung Sok Yeo

IPC: G06K9/00 ,  G06T7/00 ,  H04N13/00

CPC classification number: G06T7/70 ,  G06T2207/10028 ,  G06T2207/20076 ,  H04N2013/0081

Abstract: A method of recognizing stairs in a 3D data image includes an image acquirer that acquires a 3D data image of a space in which stairs are located. An image processor calculates a riser height between two consecutive treads of the stairs in the 3D data image, identifies points located between the two consecutive treads according to the calculated riser height, and detects a riser located between the two consecutive treads through the points located between the two consecutive treads. Then, the image processor calculates a tread depth between two consecutive risers of the stairs in the 3D data image, identifies points located between the two consecutive risers according to the calculated tread depth, and detects a tread located between the two consecutive risers through the points located between the two consecutive risers.

Abstract translation: 在3D数据图像中识别楼梯的方法包括获取楼梯所在的空间的3D数据图像的图像获取器。 图像处理器计算3D数据图像中楼梯的两个连续胎面之间的提升管高度，根据计算的提升管高度识别位于两个连续胎面之间的点，并且通过位于两个连续胎面之间的位置检测位于两个连续胎面之间的提升管 连续两次。 然后，图像处理器计算3D数据图像中楼梯的两个连续梯级之间的胎面深度，根据计算的胎面深度识别位于两个连续立管之间的点，并且通过点检测位于两个连续立管之间的胎面 位于两个连续的立管之间。

公开(公告)号：US20130127996A1

公开(公告)日：2013-05-23

申请号：US13669960

申请日：2012-11-06

Applicant: Samsung Electronics Co., Ltd.

Inventor： Suk June YOON ,  Hyo Seok Hwang ,  Sung Hwan Ahn ,  Seong Yong Hyung ,  Hyung Sok Yeo

IPC: H04N13/02

CPC classification number: G06T7/70 ,  G06T2207/10028 ,  G06T2207/20076 ,  H04N2013/0081

Abstract: A method of recognizing stairs in a 3D data image includes an image acquirer that acquires a 3D data image of a space in which stairs are located. An image processor calculates a riser height between two consecutive treads of the stairs in the 3D data image, identifies points located between the two consecutive treads according to the calculated riser height, and detects a riser located between the two consecutive treads through the points located between the two consecutive treads. Then, the image processor calculates a tread depth between two consecutive risers of the stairs in the 3D data image, identifies points located between the two consecutive risers according to the calculated tread depth, and detects a tread located between the two consecutive risers through the points located between the two consecutive risers.

Abstract translation: 在3D数据图像中识别楼梯的方法包括获取楼梯所在的空间的3D数据图像的图像获取器。 图像处理器计算3D数据图像中楼梯的两个连续胎面之间的提升管高度，根据计算的提升管高度识别位于两个连续胎面之间的点，并且通过位于两个连续胎面之间的位置检测位于两个连续胎面之间的提升管 连续两次。 然后，图像处理器计算3D数据图像中楼梯的两个连续梯级之间的胎面深度，根据计算的胎面深度识别位于两个连续立管之间的点，并且通过点检测位于两个连续立管之间的胎面 位于两个连续的立管之间。