Patent ID: 8867793
Filing Date: 2014-10-21
Classification: G06K,G06T,H04N

Abstract:
1. A method comprising: determining, respectively, a feature vector for each pixel of a plurality of pixels of a color image; determining a feature space comprising the plurality of feature vectors; randomly determining a plurality of first planes; randomly dividing the feature space with the plurality of first planes to form a plurality of regions of the feature space; determining a respective hash code for each region of the plurality of regions, wherein a hash code is indicative of a location of an associated region with respect to each first plane of the plurality of first planes; determining a number of feature vectors that map to each hash code; selecting a region of the plurality of regions based on a number of feature vectors that map to each hash code; associating each feature vector of the selected region with a respective three dimensional location to generate a plurality of three dimensional locations; partitioning the plurality of three dimensional locations into a plurality of partitions; selecting a partition of the plurality of partitions; identifying a first set of three dimensional locations associated with the selected partition; and estimating a second plane that describes the three dimensional locations associated with the selected partition.