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公开(公告)号：US11654573B2
公开(公告)日：2023-05-23
申请号：US17168076
申请日：2021-02-04
Applicant: Tata Consultancy Services Limited
Inventor： Soumyadip Maity , Gourav Kumar , Ruddra Dev Roy Choudhury , Brojeshwar Bhowmick
CPC classification number: B25J9/1697 , B25J9/161 , B25J9/163 , B25J9/1658 , B25J9/1664 , B25J11/0005 , B25J13/003 , B25J13/088
Abstract: The disclosure generally relates to methods and systems for enabling human robot interaction by cognition sharing which includes gesture and audio. Conventional techniques that use the gestures and the speech, require extra hardware setup and are limited to navigation in structured outdoor driving environments. The present disclosure herein provides methods and systems that solves the technical problem of enabling the human robot interaction with a two-step approach by transferring the cognitive load from the human to the robot. An accurate shared perspective associated with the task is determined in the first step by computing relative frame transformations based on understanding of navigational gestures of the subject. Then, the shared perspective transformed to the robot in the field view of the robot. The transformed shared perspective is then given to a language grounding technique in the second step, to accurately determine a final goal associated with the task.
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公开(公告)号：US20220148586A1
公开(公告)日：2022-05-12
申请号：US17161767
申请日：2021-01-29
Applicant: Tata Consultancy Services Limited
Inventor： Chayan SARKAR , Pradip Pramanick , Snehasis Banerjee , Brojeshwar Bhowmick
Abstract: The disclosure herein relates to methods and systems for enabling human-robot interaction (HRI) to resolve task ambiguity. Conventional techniques that initiates continuous dialogue with the human to ask a suitable question based on the observed scene until resolving the ambiguity are limited. The present disclosure use the concept of Talk-to-Resolve (TTR) which initiates a continuous dialogue with the user based on visual uncertainty analysis and by asking a suitable question that convey the veracity of the problem to the user and seek guidance until all the ambiguities are resolved. The suitable question is formulated based on the scene understanding and the argument spans present in the natural language instruction. The present disclosure asks questions in a natural way that not only ensures that the user can understand the type of confusion, the robot is facing; but also ensures minimal and relevant questioning to resolve the ambiguities.
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公开(公告)号：US20220076431A1
公开(公告)日：2022-03-10
申请号：US17405060
申请日：2021-08-18
Applicant: Tata Consultancy Services Limited
Inventor： Junaid Ahmed ANSARI , Brojeshwar Bhowmick
Abstract: This disclosure relates generally to system and method for forecasting location of target in monocular first person view. Conventional systems for location forecasting utilizes complex neural networks and hence are computationally intensive and requires high compute power. The disclosed system includes an efficient and light-weight RNN based network model for predicting motion of targets in first person monocular videos. The network model includes an auto-encoder in the encoding phase and a regularizing layer in the end helps us get better accuracy. The disclosed method relies entirely just on detection bounding boxes for prediction as well as training of the network model and is still capable of transferring zero-shot on a different dataset.
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公开(公告)号：US10650528B2
公开(公告)日：2020-05-12
申请号：US15913800
申请日：2018-03-06
Applicant: Tata Consultancy Services Limited
Inventor： Soumyadip Maity , Arindam Saha , Brojeshwar Bhowmick
Abstract: Feature based visual simultaneous localization and mapping (SLAM) do not produce reliable camera and structure estimates due to insufficient features in a low-textured environment. Moreover, existing visual SLAMs produce partial reconstruction when the number of 3D-2D correspondences is insufficient for incremental camera estimation using bundle adjustment. Systems and methods of the present disclosure provide edge points based monocular visual SLAM that mitigates these problems. The SLAM is initialized through a validation process. A local optimization process is provided for stable pose estimation in situations where camera tracking becomes unreliable in a very low-textured challenging environment. An efficient and reliable loop closing process that uses structural properties of edges in the frames is also provided.
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公开(公告)号：US10586305B2
公开(公告)日：2020-03-10
申请号：US15872557
申请日：2018-01-16
Applicant: Tata Consultancy Services Limited
Inventor： Swapna Agarwal , Brojeshwar Bhowmick
Abstract: Systems and methods of the present disclosure facilitate rigid point cloud registration with characteristics including shape constraint, translation proportional to distance and spatial point-set distribution model for handling scale. The method of the present disclosure enables registration of a rigid template point cloud to a given reference point cloud. Shape-constrained gravitation, as induced by the reference point cloud, controls movement of the template point cloud such that at each iteration, the template point cloud better aligns with the reference point cloud in terms of shape. This enables alignment in difficult conditions introduced by change such as presence of outliers and/or missing parts, translation, rotation and scaling. Also, systems and methods of the present disclosure provide an automated method as against conventional methods that depended on manually adjusted parameters.
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Patent Agency Ranking
公开(公告)号：US10163257B2
公开(公告)日：2018-12-25
申请号：US15316704
申请日：2014-12-29
Applicant: Tata Consultancy Services Limited
Inventor： Arindam Saha , Brojeshwar Bhowmick , Aniruddha Sinha
Abstract: The present subject matter discloses a system and a method for constructing a 3D structure. A stream of images having timestamps associated is received at first. A plurality of image sub-groups is created using the stream of images. The plurality of image sub-groups are used for extracting features of the images present in the image sub-groups. The features are used for generating point correspondences between the images. Epipolar geometries for the image sub-groups are calculated for filtering of the point correspondences, and generating filtered point correspondences. Further, 3D points representing one or more 3D point structures are generated using the filtered point correspondences. A registered 3D structure is constructed using the one or more 3D structures upon considering a scale correction and transformation between the one or more 3D structures. Further, the registered 3D structure is dense reconstructed for improving the pixel density of the 3D structure.
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公开(公告)号：US10068333B2
公开(公告)日：2018-09-04
申请号：US15466676
申请日：2017-03-22
Applicant: Tata Consultancy Services Limited
Inventor： Sanjana Sinha , Brojeshwar Bhowmick , Kingshuk Chakravarty , Aniruddha Sinha , Abhijit Das
Abstract: Systems and methods for identifying body joint location includes obtaining skeletal data, depth data and red, green, and blue (RGB) data pertaining to a user, obtaining, using input data, an estimate of body joint locations (BJLs) and body segment lengths (BSLs), iteratively identifying, based on the depth data and RGB data, probable correct BJLs in a bounded neighborhood around BJLs that are previously obtained, comparing a body segment length associated with the probable correct BJLs and a reference length, identifying candidate BJLs based on comparison, determining a physical orientation of each body segment by segmenting three dimensional (3D) coordinates of each body segment based on the depth data and performing an analysis on each segmented 3D coordinate. A corrected BJL is identified based on a minimal deviation in direction from the physical orientation of a corresponding body segment along with a feature descriptor of the RGB data and depth data.
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公开(公告)号：US20170200307A1
公开(公告)日：2017-07-13
申请号：US15316704
申请日：2014-12-29
Applicant: Tata Consultancy Services Limited
Inventor： Arindam Saha , Brojeshwar Bhowmick , Aniruddha Sinha
IPC: G06T17/10
CPC classification number: G06T17/10 , G06T7/593 , G06T17/00 , G06T2200/08 , G06T2207/10016 , G06T2210/56
Abstract: The present subject matter discloses a system and a method for constructing a 3D structure. A stream of images having timestamps associated is received at first. A plurality of image sub-groups is created using the stream of images. The plurality of image sub-groups are used for extracting features of the images present in the image sub-groups. The features are used for generating point correspondences between the images. Epipolar geometries for the image sub-groups are calculated for filtering of the point correspondences, and generating filtered point correspondences. Further, 3D points representing one or more 3D point structures are generated using the filtered point correspondences. A registered 3D structure is constructed using the one or more 3D structures upon considering a scale correction and transformation between the one or more 3D structures. Further, the registered 3D structure is dense reconstructed for improving the pixel density of the 3D structure.
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公开(公告)号：US12181880B2
公开(公告)日：2024-12-31
申请号：US17814306
申请日：2022-07-22
Applicant: Tata Consultancy Services Limited
Inventor： Snehasis Banerjee , Pradip Pramanick , Chayan Sarkar , Abhijan Bhattacharyya , Ashis Sau , Kritika Anand , Ruddra Dev Roychoudhury , Brojeshwar Bhowmick
Abstract: The embodiments of present disclosure herein address unresolved problem of cognitive navigation strategies for a telepresence robotic system. This includes giving instruction remotely over network to go to a point in an indoor space, to go an area, to go to an object. Also, human robot interaction to give and understand interaction is not integrated in a common telepresence framework. The embodiments herein provide a telepresence robotic system empowered with a smart navigation which is based on in situ intelligent visual semantic mapping of the live scene captured by a robot. It further presents an edge-centric software architecture of a teledrive comprising a speech recognition based HRI, a navigation module and a real-time WebRTC based communication framework that holds the entire telepresence robotic system together. Additionally, the disclosure provides a robot independent API calls via device driver ROS, making the offering hardware independent and capable of running in any robot.
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30.发明授权公开(公告)号：US11887238B2
公开(公告)日：2024-01-30
申请号：US17405765
申请日：2021-08-18
Applicant: Tata Consultancy Services Limited
Inventor： Swapna Agarwal , Dipanjan Das , Brojeshwar Bhowmick
CPC classification number: G06T13/80 , G06F18/214 , G06F18/253 , G06V10/40 , G06V40/171 , G10L15/02 , G10L19/00
Abstract: A method and system for generating 2D animated lip images synchronizing to an audio signal for an unseen subject. The system receives an audio signal and a target lip image of an unseen target subject as inputs from a user and processes these inputs to extract a plurality of high dimensional audio image features. The lip generator system is meta-trained with training dataset which consists of large variety of subjects' ethnicity and vocabulary. The meta-trained model generates realistic animation for previously unseen face and unseen audio when finetuned with only a few-shot samples for a predefined interval of time. Additionally, the method protects intrinsic features of the unseen target subject.
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