Systems and methods of 3D scene segmentation and matching for robotic operations

    公开(公告)号:US10970586B2

    公开(公告)日:2021-04-06

    申请号:US16022160

    申请日:2018-06-28

    Abstract: A method and system, the method including receive image data representations of a set of images of a physical asset; receive a data model of at least one asset, the data model of each of the at least one assets including a semantic description of the respective modeled asset and at least one operation associated with the respective modeled asset; determine a match between the received image data and the data model of one of the at least one assets based on a correspondence therebetween; generate, for the data model determined to be a match with the received image data, an operation plan based on the at least one operation included in matched data model; execute, in response to the generation of the operation plan, the generated operation plan by the physical asset.

    Systems and methods of feature correspondence analysis

    公开(公告)号:US10937150B2

    公开(公告)日:2021-03-02

    申请号:US16022074

    申请日:2018-06-28

    Abstract: A method and system, the method including receiving semantic descriptions of features of an asset extracted from a first set of images; receiving a model of the asset, the model constructed based on a second set of a plurality images of the asset; receiving, based on an optical flow-based motion estimation, an indication of a motion for the features in the first set of images; determining a set of candidate regions of interest for the asset; determining a region of interest in the first set of images; iteratively determining a matching of features in the set of candidate regions of interest and the determined region of interest in the first set of images to generate a record of matches in features between two images in the first set of images; and displaying a visualization of the matches in features between two images in the first set of images.

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