CN106056056B - A kind of non-contacting baggage volume detection system and its method at a distance - Google Patents
A kind of non-contacting baggage volume detection system and its method at a distance Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/64—Three-dimensional objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
Abstract
The present invention relates to a kind of remote non-contacting baggage volume detection system and its methods, carry out remote, non-contacting soft or hard baggage volume for scenes such as airport, stations and detect.It include: luggage subject image acquisition processing module, luggage object dimensional bulk rebuilds module, volume calculation module, luggage placement location cue module, feedback module, camera, central processing unit.Present invention solves the technical problem that including: the luggage out of remote space environment automatic identification detection zone；The surface geometrical property of luggage after processing is extracted, constructs three-dimensional space model；The soft or hard form for judging luggage calculates volume using different algorithms；Volume testing result and suggestion are fed back into user by multi-modal interaction technology.The present invention is supplied to passenger's conveniently baggage volume self checking method, avoids because the exceeded bring of baggage volume is inconvenient.
Description
Technical field
The present invention relates to one kind for the scenes such as airport, station carry out remote non-contacting baggage volume detection system and
Its method.
Background technique
The places such as airport, station are for allowing the size of cabin bag to have a strict regulations, but current luggage
Volume detection system majority is simple brandreth, and heavier luggage is put into shelf and can be gruelling and causes additional wear,
Specific accurately baggage volume and treatment advice can not be provided.Depth detection technology is able to detect target object in three-dimensional space
In distance and surface geometry variation, but for metric calculation still have precision it is not high, correction it is cumbersome the problems such as.It is three-dimensional real
Sense detection technique can provide easier correcting mode and higher accuracy in object measurement.Notification number is
The untouchable Books scanning equipment of CN105095894A utilizes depth information acquisition component, color information acquisition component, service
The cooperation of device terminal (including a three-dimensional modeling module and an open and flat module of two dimension), promotes scanning effect, improves image recognition degree
Decline and improvement user's reading experience.Notification number is that a kind of three-dimensional head model of simplicity of CN104376599A generates system
System, it is characterised in that can under the general room environment not being strict with to illumination condition convenient reconstructed head three
Dimension module, obtained threedimensional model can be used for the application such as virtual reality, individual character animation.Classification number is G01B11/00
(2006.01) the patent volume detector of I, is mainly used in metering, is used in the industry such as logistics industry, mining, utilizes high-resolution
Rate high speed camera improves the measurement accuracy and efficiency of object volume, detects volume using laser, Image Acquisition and processing technique,
To improve the efficiency of the industries such as logistics, mining.But the above invention not using true feeling detection technique carry out without calibration,
At a distance, the volume detection of non-contact soft or hard luggage, is also not implemented good interaction feedback, including provides specific beyond limitation
Volume remind etc..
Summary of the invention
To solve the soft or hard luggage of above-mentioned remote non-contact detecting and providing luggage detection feedback existing limitation, this hair
Technical solution used by bright solution above-mentioned technical problem is as follows:
A kind of remote non-contacting baggage volume detection system includes:
Luggage subject image acquisition processing module, pick up one's luggage from the background picture profile of object and the depth of various pieces
Information is spent, and generates depth map；
Luggage object dimensional bulk rebuilds module, can accurately construct the three-dimensional space model of luggage object；
Volume calculation module is gone for differentiating the type of luggage object dimensional spatial model, and according to differentiating that result calculates
The volume of Lee's object；The module can accurately calculate the volume of rigidity and flexible luggage object；
Luggage placement location cue module shows effective luggage detection placement region and angle；
Feedback module provides interactive baggage volume testing result and treatment advice；
Camera, the camera include color sensor, Infrared laser emission device and infrared sensor；
Central processing unit receives for controlling modules co-ordination, stores that other modules obtain as a result, and inciting somebody to action
It is compared with setting value, sends the result to corresponding module.The central processing unit is adopted with the luggage subject image
Collect processing module, luggage object dimensional bulk rebuilds module, volume calculation module, luggage placement location cue module, anti-
Feedback module be connected with camera, luggage subject image acquisition processing module respectively with camera, luggage object dimensional bulk
It rebuilds module to be connected, luggage object dimensional bulk rebuilds module and is connected with volume calculation module.
Further, the luggage subject image acquisition processing module includes:
Luggage object and background are distinguished from the picture that camera captures, and extract object by luggage contours extract unit
Profile；
Depth map acquiring unit obtains the depth information within the scope of contour of object according to the picture of camera capture, generates
Depth map.
Further, the volume calculation module includes:
Judging unit: the type of the luggage object dimensional spatial model for judging to obtain, and selected according to the type of judgement
It selects rigid baggage volume computing unit or flexible baggage volume computing unit carries out volume calculating；
Rigid baggage volume computing unit: for accurately calculating rigid luggage body according to luggage object dimensional spatial model
Product；
Flexible baggage volume computing unit: for accurately calculating flexible luggage body according to luggage object dimensional spatial model
Product.
Further, luggage placement cue module includes:
Projecting cell: effective luggage detection placement region and angle are shown；
It selects examination criteria mode unit: selecting detection pattern for user.
Further, the feedback module includes for showing, reminding luggage to exceed the projecting cell of part and be used for
The voice unit of auditory tone cues.
The baggage volume calculation method based on spatial depth detection of the system, it is characterised in that include the following steps:
1) camera captures pictorial information and generates contour of object, extracts the depth information of each point in profile, generates depth
Figure；
2) luggage object dimensional bulk rebuilds the three-dimensional space model of module building luggage object；
3) type for the luggage object dimensional spatial model that judging unit judgement obtains, and selected according to the type that judgement obtains
It selects and volume calculating is carried out by rigid baggage volume computing unit or flexible baggage volume computing unit；
4) volume of the three-dimensional space model of acquisition is compared by processing unit with setting range, compared with setting range
Afterwards, feedback module show luggage volume ratio compared with as a result, if baggage volume exceed setting range, label exceed setting range
Cargo area, feedback module prompt luggage goes beyond the scope the specific location and volume size of part；If baggage volume does not surpass
Setting range out, the prompt qualification information of feedback module.
The step 1) specifically:
1.1) color sensor of camera persistently receives the chromaticity diagram in detection range, every setting time to chromaticity diagram
It is detected, detection process are as follows: 3 rgb color data for extracting each location point of chromaticity diagram on current point in time are calculated
Between location point hue difference away from maximum value, compared with the color fluctua range of default, when the maximum value is more than default
When range, determine that " luggage enters detection range " event has occurred and that；
1.2) after " luggage enters detection range " event has occurred and that, the detection frequency of color sensor is improved, is detected
Process transformation are as follows: 3 rgb color data for extracting each location point of chromaticity diagram on current point in time are obtained with last time detection
Chromaticity diagram carry out point-to-point comparison, and the similarity of two chromaticity diagrams detected twice is calculated, when similarity deficiency
When 99%, detected next time；When similarity is 99% or more, position of the luggage in detection range is basicly stable, recognizes
Fixed " luggage enters detection range " event has been completed；
1.3) chromaticity diagram that the last time before being completed based on " luggage enters detection range " event is detected, in the color
The edge contour picked up one's luggage on coloured picture, and distinguished with background, concrete operations are as follows: screening obtains adjacent with surrounding from chromaticity diagram
There are the location point of form and aspect mutation between location point, the obtained location point of connection screening one by one generates a paths, as luggage
Edge；
1.4) after the completion of edge generates, the Infrared laser emission device and infrared sensor of camera are opened, according to infrared hair
Time interval between penetrating and receiving obtains the corresponding depth information of each location point, raw according to rim path obtained in the previous step
It, will be on edge and intramarginal location point is considered as and extracts object extraction depth information at extraction scope.
The judgement of the form and aspect mutation are as follows: the form and aspect distance for calculating point-to-point transmission compares with default maximum value, is more than
Maximum value, then assert point-to-point transmission, there are form and aspect mutation.
1.5) obtained chromaticity diagram is modified to vertical depression angle and generates basic plane.It is put down using basic plane as xz
Face, the vertical xz plane of y-axis will extract the position of object, depth information respectively corresponds new x, z, y-coordinate generates corresponding new space
Position coordinates generate depth map.
The modified method are as follows:, will be each in chromaticity diagram according to the angle of the angle of camera setting and horizontal plane
Location point is depression angle by matrix conversion variation.
Step 2) the specific steps are as follows:
A closed multiple camber is obtained according to depth map and basic plane combination approximation, closed multiple camber is turned
It is changed to entity, generates the space three-dimensional model of luggage.
Step 3) the specific steps are as follows:
Sentence by comparing the variance of top-surface camber each point y value and the size of preset threshold if variance is less than preset threshold values
Break to be rigid luggage, is otherwise flexible luggage；The three-dimensional space model z-axis of flexible luggage is divided into n sections, n >=1000 will
This n sections of cross-section data carries out triple integral, obtains baggage volume value；The three-dimensional space model volume of rigid luggage is that it is close
Apparent size.
Compared with existing object volume detection technique and method, the present invention solve the problems, such as two it is crucial:
1. remote contactless volume detection；
2. the volume of pair irregular soft luggage detects.
By constantly monitoring the object light stream moving condition in defined area, it can detecte luggage and enter detection zone simultaneously
The event placed and fixed.The event will trigger remote luggage detection and abstraction function.The mode of extraction is first by luggage
Object carries out background profile extraction from color picture, is then extracted according to the extraction result of luggage profile further directed to property
All depth true feeling data of luggage object area.
The depth true feeling data of acquisition are analyzed in conjunction with the shade, texture, illumination of the color picture of luggage profile, extract row
The key geometrical characteristic such as corner, bending of Lee's object, utilizes the three-dimensional space model of depth true feeling data building luggage.Then,
By the variation of front and back color and the luggage object of depth true feeling picture, extraction standard and the luggage geometry for advanced optimizing background are special
Levy the accuracy rebuild.
The luggage geometrical characteristic reconstructed results of offer carry out judging that three-dimensional space model is similar to simple space geometric from
Degree, to judge whether it is the either soft luggage object of hard.According to judging result, the baggage volume of different accuracy is taken
Accurately calculating for baggage volume is unfolded in computational algorithm.
The obtained judgement of luggage form and accurate baggage volume calculated result, if baggage volume size conforms to
Ask, then by be projected in corresponding region show baggage volume it is qualified as a result, if baggage volume size beyond limitation,
Laser stripe is projected on luggage object, prompts luggage beyond the specific location and volume size of the part of limitation, to give super large
The processing of luggage is advised.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of present system；
Fig. 2 is the front view (a), top view (b), bottom view (c) of present system；
Fig. 3 is the structural schematic diagram of luggage subject image acquisition processing module and camera；
Fig. 4 is the use state of baggage volume detection system with reference to figure；
Fig. 5 is the flow chart of production space threedimensional model of the present invention；
Fig. 6 is the flow chart that the present invention calculates baggage volume；
Fig. 7 is system structure diagram；
In figure, 1 is infrared sensor, and 2 be color sensor, and 3 be Infrared laser emission device, and 4 be that luggage subject image is adopted
Collect processing module, 5 be switch, and 6 be projection mouth, and 7 be loud-speaker opening.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings of the specification:
As shown in fig. 7, a kind of remote non-contacting baggage volume detection system includes:
Luggage subject image acquisition processing module, pick up one's luggage from the background picture profile of object and the depth of various pieces
Information is spent, and generates depth map；
Luggage object dimensional bulk rebuilds module, can accurately construct the three-dimensional space model of luggage object；
Volume calculation module is gone for differentiating the type of luggage object dimensional spatial model, and according to differentiating that result calculates
The volume of Lee's object；The module can accurately calculate the volume of rigidity and flexible luggage object；
Luggage placement location cue module shows effective luggage detection placement region and angle；
Feedback module provides interactive baggage volume testing result and treatment advice；
Camera, the camera include color sensor 2, Infrared laser emission device 3 and infrared sensor 1 (as schemed
Shown in 1-3)；
Central processing unit receives for controlling modules co-ordination, stores that other modules obtain as a result, and inciting somebody to action
It is compared with setting value, sends the result to corresponding module.The central processing unit is adopted with the luggage subject image
Collect processing module, luggage object dimensional bulk rebuilds module, volume calculation module, luggage placement location cue module, anti-
Feedback module be connected with camera, luggage subject image acquisition processing module respectively with camera, luggage object dimensional bulk
It rebuilds module to be connected, luggage object dimensional bulk rebuilds module and is connected with volume calculation module.
The luggage subject image acquisition processing module includes:
Luggage object and background are distinguished from the picture that camera captures, and extract object by luggage contours extract unit
Profile；
Depth map acquiring unit obtains the depth information within the scope of contour of object according to the picture of camera capture, generates
Depth map.
In acquisition module, color image is obtained by color sensor and extracts edge.After obtaining edge, at edge
The distance that extraction and application Infrared laser emission device and infrared sensor obtain in the range of confining calculates output luggage depth map
Picture.
The volume calculation module includes:
Judging unit: the type of the luggage object dimensional spatial model for judging to obtain, and selected according to the type of judgement
It selects rigid baggage volume computing unit or flexible baggage volume computing unit carries out volume calculating；
Rigid baggage volume computing unit: for accurately calculating rigid luggage body according to luggage object dimensional spatial model
Product；
Flexible baggage volume computing unit: for accurately calculating flexible luggage body according to luggage object dimensional spatial model
Product.
In computing module, algorithm analyzes shade, line by the value of the RGB of the record analysis each pixel of color image
It manages, the attribute of illumination, utilizes the three-dimensional space model of depth true feeling data building luggage.Then, compare front and back color and depth
The variation of the luggage object of true feeling picture records opposite percentage change, identifies for differing biggish re-using algorithm
Analysis, to advanced optimize the accuracy of extraction and the reconstruction of luggage geometrical characteristic of background.After constructing threedimensional model, utilize
Three-view diagram establishes space coordinates, according to the space coordinate of each point compared with immediate cuboid, to be judged as hardness also
It is soft material.According to the characteristic of material, carries out triple integral and obtain the volume of accurate luggage.
It includes: projecting cell that the luggage, which places cue module: showing effective luggage detection placement region and angle；
With selection examination criteria mode unit: selecting detection pattern for user.The feedback module includes for showing, reminding row
Projecting cell of Lee beyond part and the voice unit for auditory tone cues.
It is right into initialization link after user's pressing master switch starts the baggage volume detection system in interactive module
Each functional module of system carries out initialization and self-test, after reaching stable state to entire circuit, projection device starting, in corresponding area
Domain is projected out box and three modes: airport, railway station, bus, then starts audio device, issues prompt tone and reminds user
By the position of projected position regulating system, it is made to be incident upon specified region just, and user is reminded to select corresponding mould
Formula.User may stand in front of the corresponding mode projected, and corresponding mould is arranged in the region where true feeling system detection to people
Formula.Initialization link, link when directly carrying out will be skipped by restarting system later.Optical projection system is thrown in specified range
Laser is penetrated, indicates to the user that the region can place luggage.After placing luggage, the calculating by each module measures user,
The obtained judgement of luggage form and accurate baggage volume calculated result.If baggage volume size meets the requirements, pass through
Be projected in white space show baggage volume it is qualified as a result, if baggage volume size beyond limitation, on luggage object
Laser stripe is projected, prompts luggage beyond the specific location and volume size of the part of limitation.
If Fig. 1-3 is exterior design figure of this system manufacture at a specific product, infrared sensor 1, color are passed in figure
Sensor 2, Infrared laser emission device 3 collectively constitute camera；Luggage subject image acquisition processing module 4 is connected with camera, opens
5 are closed for controlling the opening and closing of this system, usual switch 5 may be provided in power supply circuit.Projection mouth 6 has for projecting cell displaying
The luggage detection placement region and angle of effect, loud-speaker opening 7 play voice prompting for voice unit.
As Figure 4-Figure 6, the baggage volume calculation method based on spatial depth detection of present system includes following step
It is rapid:
1) camera captures pictorial information and generates contour of object, extracts the depth information of each point in profile, generates depth
Figure；
2) luggage object dimensional bulk rebuilds the three-dimensional space model of module building luggage object；
3) type for the luggage object dimensional spatial model that judging unit judgement obtains, and selected according to the type that judgement obtains
It selects and volume calculating is carried out by rigid baggage volume computing unit or flexible baggage volume computing unit；
4) volume of the three-dimensional space model of acquisition is compared by processing unit with setting range, compared with setting range
Afterwards, feedback module show luggage volume ratio compared with as a result, if baggage volume exceed setting range, label exceed setting range
Cargo area, feedback module prompt luggage goes beyond the scope the specific location and volume size of part；If baggage volume does not surpass
Setting range out, the prompt qualification information of feedback module.
The step 1) specifically:
1.1) color sensor of camera persistently receives the chromaticity diagram in detection range, every setting time to chromaticity diagram
It is detected, detection process are as follows: 3 rgb color data for extracting each location point of chromaticity diagram on current point in time are calculated
Between location point hue difference away from maximum value, compared with the color fluctua range of default, when the maximum value is more than default
When range, determine that " luggage enters detection range " event has occurred and that；
1.2) after " luggage enters detection range " event has occurred and that, the detection frequency of color sensor is improved, is detected
Process transformation are as follows: 3 rgb color data for extracting each location point of chromaticity diagram on current point in time are obtained with last time detection
Chromaticity diagram carry out point-to-point comparison, and the similarity of two chromaticity diagrams detected twice is calculated, when similarity deficiency
When 99%, detected next time；When similarity is 99% or more, position of the luggage in detection range is basicly stable, recognizes
Fixed " luggage enters detection range " event has been completed；
1.3) chromaticity diagram that the last time before being completed based on " luggage enters detection range " event is detected, in the color
The edge contour picked up one's luggage on coloured picture, and distinguished with background, concrete operations are as follows: screening obtains adjacent with surrounding from chromaticity diagram
There are the location point of form and aspect mutation between location point, the obtained location point of connection screening one by one generates a paths, as luggage
Edge；
1.4) after the completion of edge generates, the Infrared laser emission device and infrared sensor of camera are opened, according to infrared hair
Time interval between penetrating and receiving obtains the corresponding depth information of each location point, raw according to rim path obtained in the previous step
It, will be on edge and intramarginal location point is considered as and extracts object extraction depth information at extraction scope.
The judgement of the form and aspect mutation are as follows: the form and aspect distance for calculating point-to-point transmission compares with default maximum value, is more than
Maximum value, then assert point-to-point transmission, there are form and aspect mutation.
1.5) obtained chromaticity diagram is modified to vertical depression angle and generates basic plane.It is put down using basic plane as xz
Face, the vertical xz plane of y-axis will extract the position of object, depth information respectively corresponds new x, z, y-coordinate generates corresponding new space
Position coordinates generate depth map.
The modified method are as follows:, will be each in chromaticity diagram according to the angle of the angle of camera setting and horizontal plane
Location point is depression angle by matrix conversion variation.
Step 2) the specific steps are as follows:
A closed multiple camber is obtained according to depth map and basic plane combination approximation, closed multiple camber is turned
It is changed to entity, generates the space three-dimensional model of luggage.
Step 3) the specific steps are as follows:
Sentence by comparing the variance of top-surface camber each point y value and the size of preset threshold if variance is less than preset threshold values
Break to be rigid luggage, is otherwise flexible luggage；The three-dimensional space model z-axis of flexible luggage is divided into n sections, n >=1000 will
This n sections of cross-section data carries out triple integral, obtains baggage volume value；The three-dimensional space model volume of rigid luggage is that it is close
Apparent size.
Claims (3)
1. a kind of baggage volume calculation method based on spatial depth detection of remote non-contacting baggage volume detection system,
The remote non-contacting baggage volume detection system includes:
Luggage subject image acquisition processing module, the profile for object of picking up one's luggage from background picture and the depth letter of various pieces
Breath, and generate depth map；
Luggage object dimensional bulk rebuilds module, for accurately constructing the three-dimensional space model of luggage object；
Volume calculation module calculates luggage object for differentiating the type of luggage object dimensional spatial model, and according to differentiation result
The volume of body；
Luggage placement location cue module shows effective luggage detection placement region and angle；
Feedback module provides interactive baggage volume testing result and treatment advice；
Camera, the camera include color sensor, Infrared laser emission device and infrared sensor；
Central processing unit, for controlling modules co-ordination, receive, store it is that other modules obtain as a result, and by its with
Setting value is compared, and sends the result to corresponding module, at the central processing unit and the luggage subject image acquisition
Manage module, luggage object dimensional bulk rebuilds module, volume calculation module, luggage placement location cue module, feedback mould
Block is connected with camera, and luggage subject image acquisition processing module is rebuild with camera, luggage object dimensional bulk respectively
Module is connected, and luggage object dimensional bulk rebuilds module and is connected with volume calculation module；
It is characterized by comprising following steps:
1) camera captures pictorial information and generates contour of object, extracts the depth information of each point in profile, generates depth map；
The step 1) specifically:
1.1) color sensor of camera persistently receives the chromaticity diagram in detection range, carries out every setting time to chromaticity diagram
Detection, detection process are as follows: position is calculated in 3 rgb color data for extracting each location point of chromaticity diagram on current point in time
Between point hue difference away from maximum value, compared with the color fluctua range of default, when the maximum value is more than default range
When, determine that " luggage enters detection range " event has occurred and that；
1.2) after " luggage enters detection range " event has occurred and that, the detection frequency of color sensor, detection process are improved
Transformation are as follows: 3 rgb color data for extracting each location point of chromaticity diagram on current point in time, the color obtained with last detection
Coloured picture carries out point-to-point comparison, and calculates the similarity of two chromaticity diagrams detected twice, when similarity is less than 99%,
It is detected next time；When similarity is 99% or more, position of the luggage in detection range is basicly stable, assert " luggage into
Entering detection range " event completed；
1.3) chromaticity diagram that the last time before being completed based on " luggage enters detection range " event is detected, in the chromaticity diagram
On the edge contour picked up one's luggage, and distinguished with background, concrete operations are as follows: screen and obtain and surrounding adjacent position from chromaticity diagram
There are the location point of form and aspect mutation between point, the location point that connection screening obtains one by one generates a paths, the as side of luggage
Edge；
1.4) after the completion of edge generates, the Infrared laser emission device and infrared sensor of camera are opened, according to infrared emission and
Time interval between reception obtains the corresponding depth information of each location point, is mentioned according to rim path obtained in the previous step generation
Take range, by edge and intramarginal location point be considered as extract object extraction depth information；
1.5) obtained chromaticity diagram is modified to vertical depression angle and generates basic plane, generate depth map；
2) it is combined to obtain a closed multiple camber according to depth map and basic plane, closed multiple camber is converted into reality
Body generates the three-dimensional space model of luggage object；
3) type for the luggage object dimensional spatial model that determined property unit judges obtain, and selected according to the type that judgement obtains
It selects and volume calculating is carried out by rigid baggage volume computing unit or flexible baggage volume computing unit；
4) volume of the three-dimensional space model of acquisition is compared by processing unit with setting range, compared with setting range after,
Feedback module show luggage volume ratio compared with as a result, if baggage volume exceeds setting range, label is beyond setting range
Cargo area, feedback module prompt luggage go beyond the scope the specific location and volume size of part；If baggage volume without departing from
Setting range, the prompt qualification information of feedback module.
2. baggage volume calculation method as described in claim 1, it is characterised in that the judgement of the form and aspect mutation are as follows: calculate
The form and aspect distance of point-to-point transmission is compared with default maximum value, is more than maximum value, then assert point-to-point transmission, there are form and aspect mutation.
3. baggage volume calculation method as described in claim 1, it is characterised in that the step 3) specific steps are as follows: set three
The coordinate put in dimension space model is (x, y, z), by comparing the variance of top-surface camber each point y value and the size of preset threshold, if
Variance is less than preset threshold, then is judged as YES rigid luggage, is otherwise flexible luggage；By the three-dimensional space model of flexible luggage
Z-axis is divided into n sections, this n sections of cross-section data is carried out triple integral, obtains baggage volume value by n >=1000；By rigid luggage
Three-dimensional space model, calculate length on its x, y, z direction absolute value generate cuboid, according to the calculating side of cuboid volume
Method obtains its volume.
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| KR101661934B1 (en) * | 2010-07-29 | 2016-10-04 | 삼성전자주식회사 | Image processing apparatus and method |
| CN102034247B (en) * | 2010-12-23 | 2013-01-02 | 中国科学院自动化研究所 | Motion capture method for binocular vision image based on background modeling |
| US20140232746A1 (en) * | 2013-02-21 | 2014-08-21 | Hyundai Motor Company | Three dimensional augmented reality display apparatus and method using eye tracking |
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