Patent Document ID: 9241141
Application ID: 13336458
Patent Status: 1

Claim One:
1. A system comprising: one or more processors; a projector coupled to the one or more processors and configured to project a projection block comprising a structured light pattern onto a surface of an object within an environment; a camera coupled to the one or more processors and configured to capture an image of the object, the captured image containing a captured block that comprises the projection block as projected onto the surface of the object; and one or more computer-readable storage media storing computer-executable instructions that, when executed on the one or more processors, cause the one or more processors to perform acts comprising: applying distortion correction to at least a portion of the captured image to generate a corrected image, wherein applying the distortion correction compensates for a distortion factor associated with characteristics of the projector; applying a bilateral filter to at least a portion of the corrected image to form a filtered image; and determining a boundary of the captured block in the filtered image.