Model-based three-dimensional head pose estimation

    公开(公告)号:US10311589B2

    公开(公告)日:2019-06-04

    申请号:US15823370

    申请日:2017-11-27

    Abstract: One embodiment of the present invention sets forth a technique for estimating a head pose of a user. The technique includes acquiring depth data associated with a head of the user and initializing each particle included in a set of particles with a different candidate head pose. The technique further includes performing one or more optimization passes that include performing at least one iterative closest point (ICP) iteration for each particle and performing at least one particle swarm optimization (PSO) iteration. Each ICP iteration includes rendering the three-dimensional reference model based on the candidate head pose associated with the particle and comparing the three-dimensional reference model to the depth data. Each PSO iteration comprises updating a global best head pose associated with the set of particles and modifying at least one candidate head pose. The technique further includes modifying a shape of the three-dimensional reference model based on depth data.

    Future object trajectory predictions for autonomous machine applications

    公开(公告)号:US11989642B2

    公开(公告)日:2024-05-21

    申请号:US17952866

    申请日:2022-09-26

    CPC classification number: G06N3/044 B60W40/02 G06N3/08 G06N3/045

    Abstract: In various examples, historical trajectory information of objects in an environment may be tracked by an ego-vehicle and encoded into a state feature. The encoded state features for each of the objects observed by the ego-vehicle may be used—e.g., by a bi-directional long short-term memory (LSTM) network—to encode a spatial feature. The encoded spatial feature and the encoded state feature for an object may be used to predict lateral and/or longitudinal maneuvers for the object, and the combination of this information may be used to determine future locations of the object. The future locations may be used by the ego-vehicle to determine a path through the environment, or may be used by a simulation system to control virtual objects—according to trajectories determined from the future locations—through a simulation environment.

    COMBINED PREDICTION AND PATH PLANNING FOR AUTONOMOUS OBJECTS USING NEURAL NETWORKS

    公开(公告)号:US20210124353A1

    公开(公告)日:2021-04-29

    申请号:US17140738

    申请日:2021-01-04

    Abstract: Sensors measure information about actors or other objects near an object, such as a vehicle or robot, to be maneuvered. Sensor data is used to determine a sequence of possible actions for the maneuverable object to achieve a determined goal. For each possible action to be considered, one or more probable reactions of the nearby actors or objects are determined. This can take the form of a decision tree in some embodiments, with alternative levels of nodes corresponding to possible actions of the present object and probable reactive actions of one or more other vehicles or actors. Machine learning can be used to determine the probabilities, as well as to project out the options along the paths of the decision tree including the sequences. A value function is used to generate a value for each considered sequence, or path, and a path having a highest value is selected for use in determining how to navigate the object.

    FUTURE OBJECT TRAJECTORY PREDICTIONS FOR AUTONOMOUS MACHINE APPLICATIONS

    公开(公告)号:US20200082248A1

    公开(公告)日:2020-03-12

    申请号:US16564978

    申请日:2019-09-09

    Abstract: In various examples, historical trajectory information of objects in an environment may be tracked by an ego-vehicle and encoded into a state feature. The encoded state features for each of the objects observed by the ego-vehicle may be used—e.g., by a bi-directional long short-term memory (LSTM) network—to encode a spatial feature. The encoded spatial feature and the encoded state feature for an object may be used to predict lateral and/or longitudinal maneuvers for the object, and the combination of this information may be used to determine future locations of the object. The future locations may be used by the ego-vehicle to determine a path through the environment, or may be used by a simulation system to control virtual objects—according to trajectories determined from the future locations—through a simulation environment.

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