Patent Document ID: 20170193665
Application ID: 15007942
Patent Status: 0

Claim One:
1. A system for detecting an object from a depth image, the system comprising: a communication module; a memory configured to store an object detection program; and a processor configured to execute the object detection program, wherein by executing the object detection program, the processor extracts a first object area and a second object area from the depth image, based on a predetermined floor plane and an outer plane which is set with respect to the predetermined floor plane, the processor extracts a target area including pixels of the second object area which are spaced apart from the first object area by a predetermined interval, the processor samples a pixel, which is not included in the target area, to extract a floor area from the second object area, calculates a boundary value of an object and a floor, based on the floor area and the target area, and extracts a foreground pixel from the target area, based on the calculated boundary value, and the second object area comprises the object and the floor and is disposed under the first object area.