公开(公告)号：US12145626B1

公开(公告)日：2024-11-19

申请号：US17452490

申请日：2021-10-27

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Shreekant Gayaka ,  Menghan Zhang

IPC: B60W60/00 ,  G05D1/00 ,  G06T7/246 ,  G06T7/73 ,  G06V20/10 ,  G06V40/10

Abstract: An autonomous mobile device (AMD) that interacts with a user operates more effectively when able to persist an entity identifier across time with a particular user. Sensor data, such as a set of image frames, is acquired over time and used to determine locations of the user in the physical space. An entity identifier may be associated with the user as depicted in each frame, to allow the AMD to distinguish one user from another. However, due to changes in orientation, appearance, lighting, and so forth, different entity identifiers may be assigned across different frames, even though the user is the same. Information about the location at different times is used to establish a relationship between a root entity identifier and the entity identifiers in individual frames, allowing for consistent operation with respect to the particular user associated with the root entity identifier.

公开(公告)号：US11810345B1

公开(公告)日：2023-11-07

申请号：US17449898

申请日：2021-10-04

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Shreekant Gayaka ,  Menghan Zhang

IPC: G06V20/10 ,  G05D1/00 ,  G05D1/02 ,  G06T7/70 ,  G06V10/94 ,  G06V10/98 ,  G06V40/10 ,  G06V40/16

CPC classification number: G06V20/10 ,  G05D1/0088 ,  G05D1/0251 ,  G06T7/70 ,  G06V10/95 ,  G06V10/98 ,  G06V40/10 ,  G06V40/161 ,  G06T2207/20084 ,  G06T2207/30201

Abstract: An autonomous mobile device (AMD) that interacts with a user operates more effectively with reliable information about that user's pose. Occlusion due to obstacles or sensor field-of-view limits may prevent a sensor from “seeing” a user's torso or lower body while the face may remain visible. Face orientation alone produces unreliable results because a user frequently moves their head. Sensor data is acquired over time and used to determine face and body poses, with each pose representing a location and orientation in physical space of that portion of the user. A transform is determined that represents the relative arrangement of a face pose and a body pose at a particular time. If available, the body pose may be used as the user's pose. If the body pose is unavailable or unreliable at a given time, it may be inferred by applying the previously determined transform to the current face pose.