Methods and apparatus for using range data to predict object features
Embodiments relate to predicting height information for an object. First distance data is determined at a first time when an object is at a first position that is only partially within the field-of-view. Second distance data is determined at a second, later time when the object is at a second, different position that is only partially within the field-of-view. A distance measurement model that models a physical parameter of the object within the field-of-view is determined for the object based on the first and second distance data. Third distance data indicative of an estimated distance to the object prior to the object being entirely within the field-of-view of the distance sensing device is determined based on the first distance data, the second distance data, and the distance measurement model. Data indicative of a height of the object is determined based on the third distance data.
1. A computerized method, comprising:
accessing first distance data determined by a distance sensing device at a first time, wherein the distance sensing device determined the first distance data with an object at a first position within a field-of-view of the distance sensing device, wherein the object is only partially in the field-of-view at the first position;
accessing second distance data determined by the distance sensing device at a second time occurring after the first time, wherein the distance sensing device determined the second distance data with the object at a second position within the field-of-view of the distance sensing device, wherein the first position is different than the second position, and the object is only partially in the field-of-view at the second position;
determining a distance measurement model for the object based on the first distance data and the second distance data, wherein the distance measurement model is configured to model a physical parameter of the object to predict the physical parameter of the object when the object moves within the field-of-view of the distance sensing device over time, including future times that will occur after the first and second times;
determining, based on the first distance data, the second distance data, and the distance measurement model, third distance data indicative of an estimated distance to the object, wherein the estimated distance predicts a distance to the object at a future time when the object will be within the field-of-view of the distance sensing device prior to the object actually being entirely within the field-of-view of the distance sensing device; and
determining, based on the third distance data, data indicative of a height of the object.
2. The computerized method of claim 1 , wherein the physical parameter of the object comprises an area of the object, a height of the object, or some combination thereof.
3. The computerized method of claim 1 , further comprising:
determining, based on the third distance data, data indicative of a focus adjustment for a lens of an imaging device associated with the distance sensing device.
4. The computerized method of claim 3 , further comprising transmitting, based on the data indicative of the focus adjustment, one or more signals to change a focus of the lens.
5. The computerized method of claim 4 , further comprising capturing an image of the object after transmitting the one or more signals to change the focus of the lens.
6. The computerized method of claim 1 , further comprising:
determining, based on the third distance data, data indicative of a brightness adjustment for an illumination module of an imaging device associated with the distance sensing device.
7. The computerized method of claim 1 , further comprising:
accessing data indicative of a motion parameter of the object; and
determining the third distance data comprises determining the third distance data based on the first distance data, the second distance data, the distance measurement model, and the motion parameter.
8. The computerized method of claim 7 , wherein the motion parameter comprises a velocity of the object as the object travels through the field-of-view of the distance sensing device.
9. The computerized method of claim 8 , wherein the motion parameter comprises an acceleration of the object as the object travels through the field-of-view of the distance sensing device.
10. The computerized method of claim 8 , wherein determining the third distance data comprises determining the third distance data based on the first distance data, the second distance data, the distance measurement model, and the velocity of the object.
11. The computerized method of claim 1 , wherein the distance sensing device comprises a time-of-flight sensor, and accessing the first and second distance data comprises receiving first and second time-of-flight measurements from the time-of-flight sensor.
12. The computerized method of claim 1 , wherein determining the third distance data based on the first distance data, the second distance data, and the distance measurement model comprises:
determining, using the distance measurement model, a first object area estimate of a first area of the object within the field-of-view of the distance sensing device based on the first distance data; and
determining, using the distance measurement model, a second object area estimate of a second area of the object within the field-of-view of the distance sensing device based on the first object area estimate and the second distance data.
13. The computerized method of claim 12 , wherein the distance measurement model is a Kalman filter.
14. The computerized method of claim 12 , further comprising determining, based on the second object area estimate, a height estimate of the object.
15. The computerized method of claim 14 , wherein determining the height estimate of the object comprises determining, using a parameter estimation algorithm, the height estimate based on the second object area estimate.
16. The computerized method of claim 15 , wherein the parameter estimation algorithm is an Expectation Maximization (EM) algorithm, a Maximum A Posteriori (MAP) algorithm, or some combination thereof.
17. The computerized method of claim 1 , further comprising:
updating, based on the third distance data, a focus adjustment for a lens of an imaging device associated with the distance sensing device; and
capturing an image of the object after updating the focus adjustment for the lens.
18. The computerized method of claim 1 , further comprising:
adjusting, based on the third distance data, a brightness setting for an illumination module of an imaging device associated with the distance sensing device; and
capturing an image of the object after adjusting the brightness setting for the illumination module.
19. At least one non-transitory computer-readable storage medium storing processor-executable instructions that, when executed by at least one computer hardware processor, cause the at least one computer hardware processor to perform the acts of:
accessing first distance data determined by a distance sensing device at a first time, wherein the distance sensing device determined the first distance data with an object at a first position within a field-of-view of the distance sensing device, wherein the object is only partially in the field-of-view at the first position;
accessing second distance data determined by the distance sensing device at a second time occurring after the first time, wherein the distance sensing device determined the second distance data with the object at a second position within the field-of-view of the distance sensing device, wherein the first position is different than the second position, and the object is only partially in the field-of-view at the second position;
determining a distance measurement model for the object based on the first distance data and the second distance data, wherein the distance measurement model is configured to model a physical parameter of the object to predict the physical parameter of the object when the object moves within the field-of-view of the distance sensing device over time, including future times that will occur after the first and second times;
determining, based on the first distance data, the second distance data, and the distance measurement model, third distance data indicative of an estimated distance to the object, wherein the estimated distance predicts a distance to the object at a future time when the object will be within the field-of-view of the distance sensing device prior to the object actually being entirely within the field-of-view of the distance sensing device; and
determining, based on the third distance data, data indicative of a height of the object.
20. The computer readable medium of claim 19 , wherein the processor-executable instructions further cause the at least one computer hardware processor to perform the acts of:
accessing data indicative of a motion parameter of the object; and
determining the third distance data comprises determining the third distance data based on the first distance data, the second distance data, the distance measurement model, and the motion parameter.
21. An apparatus comprising a processor in communication with a memory, the processor being configured to execute instructions stored in the memory that cause the processor to:
access first distance data determined by a distance sensing device at a first time, wherein the distance sensing device determined the first distance data with an object at a first position within a field-of-view of the distance sensing device, wherein the object is only partially in the field-of-view at the first position;
access second distance data determined by the distance sensing device at a second time occurring after the first time, wherein the distance sensing device determined the second distance data with the object at a second position within the field-of-view of the distance sensing device, wherein the first position is different than the second position, and the object is only partially in the field-of-view at the second position;
determine a distance measurement model for the object based on the first distance data and the second distance data, wherein the distance measurement model is configured to model a physical parameter of the object to predict the physical parameter of the object when the object moves within the field-of-view of the distance sensing device over time, including future times that will occur after the first and second times;
determine, based on the first distance data, the second distance data, and the distance measurement model, third distance data indicative of an estimated distance to the object, wherein the estimated distance predicts a distance to the object at a future time when the object will be within the field-of-view of the distance sensing device prior to the object actually being entirely within the field-of-view of the distance sensing device; and
determine, based on the third distance data, data indicative of a height of the object.
22. The apparatus of claim 21 , wherein the processor is further configured to execute instructions stored in the memory that cause the processor to:
access data indicative of a motion parameter of the object; and
determine the third distance data comprises determining the third distance data based on the first distance data, the second distance data, the distance measurement model, and the motion parameter.