Patent Document ID: 20140177915
Application ID: 14133895
Patent Status: 0

Claim One:
1. A method for detecting an object, comprising the steps of: obtaining a plurality of depth images of the object by picking up the object by a plurality of stereo cameras; extracting from the depth images, foregrounds with an image coordinate system; fusing the foregrounds in a unified three-dimensional world coordinate system defined by rectangular coordinates of x, y and z directions, where the object stands on an x-z plane limited by x and z axes; calculating an appearance two-dimensional histogram on the x-z plane from the foreground fused in the three-dimensional world coordinate system by the following steps of dividing the foreground fused in the three-dimensional world coordinate system into vertical members extending along the y direction and getting statistics of the numbers of foreground points in the vertical members so as to obtain the appearance two-dimensional histogram representing the numbers of the foreground points in the vertical members; determining an overlapping region of the corresponding depth images on the x-z plane and determining the number of overlaps, based on the placement of the stereo cameras; determining a detection parameter relating to a detection position, based on whether the detection position is located in the overlapping region or not and the corresponding number of overlaps; and detecting the object by the appearance two-dimensional histogram, based on the determined detection parameter.