公开(公告)号：US11972607B2

公开(公告)日：2024-04-30

申请号：US18111541

申请日：2023-02-18

Applicant: Apple Inc.

Inventor： Daniel Ulbricht ,  Angela Blechschmidt ,  Mohammad Haris Baig ,  Tanmay Batra ,  Eshan Verma ,  Amit Kumar Kc

IPC: G06V20/10 ,  G06F18/24 ,  G06T7/70 ,  G06T19/00 ,  G06V30/262

CPC classification number: G06V20/10 ,  G06F18/24 ,  G06T7/70 ,  G06T19/006 ,  G06V30/274 ,  G06T2200/24 ,  G06T2207/10028 ,  G06T2207/20084

Abstract: In one implementation, a method of generating a plane hypothesis is performed by a device including one or more processors, non-transitory memory, and a scene camera. The method includes obtaining an image of a scene including a plurality of pixels. The method includes obtaining a plurality of points of a point cloud based on the image of the scene. The method includes obtaining an object classification set based on the image of the scene. Each element of the object classification set includes a plurality of pixels respectively associated with a corresponding object in the scene. The method includes detecting a plane within the scene by identifying a subset of the plurality of points of the point cloud that correspond to a particular element of the object classification set.

公开(公告)号：US10977798B2

公开(公告)日：2021-04-13

申请号：US16545158

申请日：2019-08-20

Applicant: Apple Inc.

Inventor： Amit Kumar Kc ,  Daniel Ulbricht

IPC: G06T7/13 ,  G06N3/08

Abstract: In some implementations a neural network is trained to perform to directly predict thin boundaries of objects in images based on image characteristics. A neural network can be trained to predict thin boundaries of objects without requiring subsequent computations to reduce the thickness of the boundary prediction. Instead, the network is trained to make the predicted boundaries thin by effectively suppressing non-maximum values in normal directions along what might otherwise be a thick predicted boundary. To do so, the neural network can be trained to determine normal directions and suppress non-maximum values based on those determined normal directions.