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公开(公告)号：US20240221344A1
公开(公告)日：2024-07-04
申请号：US18395090
申请日：2023-12-22
发明人： Achuta Kadambi , Raghav Khanna , Agastya Kalra , Kerim Doruk Karinca , Tomas Gerlich , Vage Taamazyan
CPC分类号： G06V10/34 , G06T15/04 , G06V10/751 , G06V10/993
摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for detection of pixel correspondences in stereo imaging through the use of polarization data. One of the methods include: obtaining a first image from a first viewpoint of a stereo pair and a second image from a second viewpoint of the stereo pair; obtaining an angle of linear polarization (AOLP) map and a degree of linear polarization (DOLP) map having a field of view overlapping the first image and the second image; computing a surface normal map based on the AOLP map and the DOLP map; and detecting corresponding pixels between the first image and the second image by computing a disparity map that minimizes an energy function comprising a pixel matching cost term and a polarized smoothness regularization term computed based on pixels in a local neighborhood and based on the surface normal map.
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公开(公告)号：US12008796B2
公开(公告)日：2024-06-11
申请号：US17588098
申请日：2022-01-28
IPC分类号： G06V10/82 , G06T7/73 , G06V10/44 , G06V10/764 , G06V10/774 , G06V20/64
CPC分类号： G06V10/454 , G06T7/75 , G06V10/764 , G06V10/774 , G06V10/82 , G06V20/647
摘要： A method for estimating a pose of an object includes: receiving a plurality of images of the object captured from multiple viewpoints with respect to the object; initializing a current pose of the object based on computing an initial estimated pose of the object from at least one of the plurality of images; predicting a plurality of 2-D keypoints associated with the object from each of the plurality of images; and computing an updated pose that minimizes a cost function based on a plurality of differences between the 2-D keypoints and a plurality of 3-D keypoints associated with a 3-D model of the object as arranged in accordance with the current pose, and as projected to each of the viewpoints.
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公开(公告)号：US11954886B2
公开(公告)日：2024-04-09
申请号：US17232084
申请日：2021-04-15
IPC分类号： G06T7/73 , G06F18/214 , G06V10/40
CPC分类号： G06T7/75 , G06F18/214 , G06V10/40 , G06T2207/20081 , G06T2207/20084
摘要： A method for estimating a pose of a deformable object includes: receiving, by a processor, a plurality of images depicting the deformable object from multiple viewpoints; computing, by the processor, one or more object-level correspondences and a class of the deformable object depicted in the images; loading, by the processor, a 3-D model corresponding to the class of the deformable object; aligning, by the processor, the 3-D model to the deformable object depicted in the plurality of images to compute a six-degree of freedom (6-DoF) pose of the object; and outputting, by the processor, the 3-D model and the 6-DoF pose of the object.
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公开(公告)号：US11699273B2
公开(公告)日：2023-07-11
申请号：US17586666
申请日：2022-01-27
IPC分类号： G06V10/145 , G06V20/80 , G06V10/60 , G06F18/2413 , G06V10/764 , G06V10/82
CPC分类号： G06V10/145 , G06F18/2413 , G06V10/60 , G06V10/764 , G06V10/82 , G06V20/80 , G06V2201/06
摘要： A computer-implemented method for surface modeling includes: receiving one or more polarization raw frames of a surface of a physical object, the polarization raw frames being captured with a polarizing filter at different linear polarization angles; extracting one or more first tensors in one or more polarization representation spaces from the polarization raw frames; and detecting a surface characteristic of the surface of the physical object based on the one or more first tensors in the one or more polarization representation spaces.
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公开(公告)号：US20230071384A1
公开(公告)日：2023-03-09
申请号：US17471063
申请日：2021-09-09
摘要： A method of tracking a pose of an object includes determining an initial pose of the object at a first position, receiving position data and velocity data corresponding to movement of the object to a second position by a moving device, determining an expected pose of the object at the second position based on the position and velocity data and the initial pose, receiving second image data corresponding to the object at the second position from a camera, and determining a refined pose of the object at the second position based on the second image data and the expected pose.
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公开(公告)号：US11580667B2
公开(公告)日：2023-02-14
申请号：US17529042
申请日：2021-11-17
摘要： A method for characterizing a pose estimation system includes: receiving, from a pose estimation system, first poses of an arrangement of objects in a first scene; receiving, from the pose estimation system, second poses of the arrangement of objects in a second scene, the second scene being a rigid transformation of the arrangement of objects of the first scene with respect to the pose estimation system; computing a coarse scene transformation between the first scene and the second scene; matching corresponding poses between the first poses and the second poses; computing a refined scene transformation between the first scene and the second scene based on coarse scene transformation, the first poses, and the second poses; transforming the first poses based on the refined scene transformation to compute transformed first poses; and computing an average rotation error and an average translation error of the pose estimation system based on differences between the transformed first poses and the second poses.
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公开(公告)号：US12067746B2
公开(公告)日：2024-08-20
申请号：US17314929
申请日：2021-05-07
发明人： Vage Taamazyan , Guy Michael Stoppi , Bradley Craig Anderson Brown , Agastya Kalra , Achuta Kadambi , Kartik Venkataraman
CPC分类号： G06T7/75 , B25J9/1697 , B25J13/08 , G05B19/4155 , G06T7/269 , G06T7/55 , G05B2219/50391 , G06T2207/10024
摘要： A method for estimating a pose of an object includes: receiving, by a processor, an observed image depicting the object from a viewpoint; computing, by the processor, an instance segmentation map identifying a class of the object depicted in the observed image; loading, by the processor, a 3-D model corresponding to the class of the object; computing, by the processor, a rendered image of the 3-D model in accordance with an initial pose estimate of the object and the viewpoint of the observed image; computing, by the processor, a plurality of dense image-to-object correspondences between the observed image of the object and the 3-D model based on the observed image and the rendered image; and computing, by the processor, the pose of the object based on the dense image-to-object correspondences.
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公开(公告)号：US11797863B2
公开(公告)日：2023-10-24
申请号：US17294976
申请日：2021-01-04
IPC分类号： G06N3/088 , G06F18/214 , G06N3/045
CPC分类号： G06N3/088 , G06F18/214 , G06N3/045
摘要： A method of generating synthetic images of virtual scenes includes: placing, by a synthetic data generator implemented by a processor and memory, three-dimensional (3-D) models of objects in a 3-D virtual scene; adding, by the synthetic data generator, lighting to the 3-D virtual scene, the lighting including one or more illumination sources; applying, by the synthetic data generator, imaging modality-specific materials to the 3-D models of objects in the 3-D virtual scene in accordance with a selected multimodal imaging modality, each of the imaging modality-specific materials including an empirical model; setting a scene background in accordance with the selected multimodal imaging modality; and rendering, by the synthetic data generator, a two-dimensional image of the 3-D virtual scene based on the selected multimodal imaging modality to generate a synthetic image in accordance with the selected multimodal imaging modality.
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公开(公告)号：US11683594B2
公开(公告)日：2023-06-20
申请号：US17672357
申请日：2022-02-15
IPC分类号： H04N23/75 , H04N23/743
CPC分类号： H04N23/75 , H04N23/743
摘要： Systems and methods for adjusting an exposure parameter of an imaging device are disclosed. A first exposure level of the imaging device is identified, and a first image of a scene is captured via the imaging device at the first exposure level. The first image of the scene comprises a plurality of polarization images corresponding to different degrees and angles of polarization. Each of the polarization images comprise a plurality of color channels. A gradient for the first image is computed based on the plurality of the polarization images, and a second exposure level is computed based on the gradient. A second image of the scene is captured based on the second exposure level, where the gradient of the second image is greater than a gradient for the first image.
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公开(公告)号：US20230041560A1
公开(公告)日：2023-02-09
申请号：US17393338
申请日：2021-08-03
IPC分类号： G06T7/70 , H04N13/243 , H04N5/225 , H04N5/369
摘要： A data capture stage includes a frame at least partially surrounding a target object, a rotation device within the frame and configured to selectively rotate the target object, a plurality of cameras coupled to the frame and configured to capture images of the target object from different angles, a sensor coupled to the frame and configured to sense mapping data corresponding to the target object, and an augmentation data generator configured to control a rotation of the rotation device, to control operations of the plurality of cameras and the sensor, and to generate training data based on the images and the mapping data.
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