Abstract: A computer-implemented method, computerized apparatus and computer program product for detecting an object's pose using a depth image. An image of an object in a scene and depth data of the scene are obtained. At least one pose hypothesis, representing a hypothesized plane, are determined based on the image. An incidence plane, hypothesized to be coplanar with the object, is determined based on the depth data. A relation indicating a level of consistency is determined between the hypothesized plane and the incidence plane for the at least one pose hypothesis.

Abstract: A computer-implemented method, computerized apparatus and computer program product for detecting an object's pose using a depth image. An image of an object in a scene and depth data of the scene are obtained. At least one pose hypothesis, representing a hypothesized plane, are determined based on the image. An incidence plane, hypothesized to be coplanar with the object, is determined based on the depth data. A relation indicating a level of consistency is determined between the hypothesized plane and the incidence plane for the at least one pose hypothesis.

Abstract: A computer-implemented method, computerized apparatus and computer program product for detecting an object's pose using a depth image. An image of an object in a scene and depth data of the scene are obtained. At least one pose hypothesis, representing a hypothesized plane, are determined based on the image. An incidence plane, hypothesized to be coplanar with the object, is determined based on the depth data. A relation indicating a level of consistency is determined between the hypothesized plane and the incidence plane for the at least one pose hypothesis.

Abstract: A computer-implemented method, computerized apparatus and computer program product for detecting an object's pose using a depth image. An image of an object in a scene and depth data of the scene are obtained. At least one pose hypothesis, representing a hypothesized plane, are determined based on the image. An incidence plane, hypothesized to be coplanar with the object, is determined based on the depth data. A relation indicating a level of consistency is determined between the hypothesized plane and the incidence plane for the at least one pose hypothesis.

Abstract: A method comprising using at least one hardware processor for: applying an edge detection algorithm to an image of a document to receive a map of edges from which multiple optional contours of the document in the image are identified; splitting the multiple optional contours into line segments; sorting the line segments into equivalence classes of collinearity representing distinct line segments of the line segments, wherein each one of the classes of collinearity represents a distinct line segment of the distinct line segments; deriving a connectivity graph based on the equivalence classes of collinearity; identifying four vertex polygons in said connectivity graph; evaluating each one of the identified four vertex polygons according to one or more segmentation criterions; and segmenting the document in the image according to the most highly evaluated four vertex polygon of the four vertex polygons.

Abstract: A method comprising using at least one hardware processor for: applying an edge detection algorithm to an image of a document to receive a map of edges from which multiple optional contours of the document in the image are identified; splitting the multiple optional contours into line segments; sorting the line segments into equivalence classes of collinearity representing distinct line segments of the line segments, wherein each one of the classes of collinearity represents a distinct line segment of the distinct line segments; deriving a connectivity graph based on the equivalence classes of collinearity; identifying four vertex polygons in said connectivity graph; evaluating each one of the identified four vertex polygons according to one or more segmentation criterions; and segmenting the document in the image according to the most highly evaluated four vertex polygon of the four vertex polygons.