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    Densifying sparse depth maps
    1.
    发明授权
    Densifying sparse depth maps 有权

    公开(公告)号：US11238604B1

    公开(公告)日：2022-02-01

    申请号：US16789788

    申请日：2020-02-13

    Applicant: Apple Inc.

    Inventor： Mohammad Haris Baig ,  Daniel Ulbricht

    IPC: G06T7/579 ,  G06N20/00 ,  G06T7/571 ,  G06T7/73

    Abstract: A system and techniques that use one or more machine learning models to predict a dense depth map (e.g., of depth values for all pixels or at least more pixels than a sparse estimation source (e.g., SLAM)). In some implementations, the machine learning model includes two sub models (e.g., neural networks). The first machine learning model predicts computer vision data such as semantic labels and surface normal directions from an input image. This computer vision data will be used to add to or otherwise improve sparse depth data. Specifically, a second machine learning model takes the semantic labels and surface normal directions from and sparse depth data (e.g., 3D points) from a sparse point estimation source (e.g., SLAM) as inputs and outputs a depth map. The output depth map effectively densities the initial depth data (e.g., from SLAM) by providing depth data for additional pixels of the image.

    Plane detection using semantic segmentation
    2.
    发明授权
    Plane detection using semantic segmentation 有权

    公开(公告)号：US10824864B2

    公开(公告)日：2020-11-03

    申请号：US16360732

    申请日：2019-03-21

    Applicant: Apple Inc.

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

    IPC: G06K9/00 ,  G06K9/62 ,  G06K9/72 ,  G06T19/00 ,  G06T7/70

    Abstract: In one implementation, a method of generating a plane hypothesis is performed by a head-mounted device (HMD) 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 include obtaining a point cloud based on the image of the scene and generating an object classification set based on the image of the scene, each element of the object classification set including a respective plurality of pixels classified as a respective object in the scene. The method includes generating a plane hypothesis based on the point cloud and the object classification set.

    Plane detection using semantic segmentation
    10.
    发明授权
    Plane detection using semantic segmentation 有权

    公开(公告)号：US11132546B2

    公开(公告)日：2021-09-28

    申请号：US17032213

    申请日：2020-09-25

    Applicant: Apple Inc.

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

    IPC: G06K9/00 ,  G06K9/62 ,  G06K9/72 ,  G06T19/00 ,  G06T7/70

    Abstract: In one implementation, a method of generating a plane hypothesis is performed by a head-mounted device (HMD) 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 include obtaining a point cloud based on the image of the scene and generating an object classification set based on the image of the scene, each element of the object classification set including a respective plurality of pixels classified as a respective object in the scene. The method includes generating a plane hypothesis based on the point cloud and the object classification set.

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