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    Plane detection using semantic segmentation
    1.
    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
    4.
    发明授权
    Plane detection using semantic segmentation 有权

    公开(公告)号：US11610397B2

    公开(公告)日：2023-03-21

    申请号：US17473469

    申请日：2021-09-13

    Applicant: Apple Inc.

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

    IPC: G06V20/10 ,  G06T7/70 ,  G06V30/262 ,  G06K9/62 ,  G06T19/00

    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.

    Iterative neural network training using quality assurance neural network
    6.
    发明授权
    Iterative neural network training using quality assurance neural network 有权

    公开(公告)号：US12033058B1

    公开(公告)日：2024-07-09

    申请号：US16421606

    申请日：2019-05-24

    Applicant: Apple Inc.

    Inventor： Peter Meier ,  Tanmay Batra

    IPC: G06N3/045 ,  G06F18/2115 ,  G06F18/214 ,  G06N3/082

    CPC classification number: G06N3/045 ,  G06F18/2115 ,  G06F18/2148 ,  G06N3/082

    Abstract: In some implementations initially training a first neural network includes inputting the training inputs and corresponding training labels into the first neural network to produce output labels, comparing the output labels to the corresponding training labels using a second neural network that learns and applies a comparison metric, and adjusting parameters of the first neural network based on the comparing. The device then inputs additional inputs into the first neural network to produce additional output labels and corresponding confidence values from the second neural network. The device selects, based on the confidence values, an automatically-labeled training set of data including a subset of the additional inputs and a corresponding subset of the additional output labels. During a second training stage, the device trains the first neural network and the second neural network using the automatically-labeled training set of data.

    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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