公开(公告)号：US11818328B2

公开(公告)日：2023-11-14

申请号：US17934620

申请日：2022-09-23

Applicant: Google LLC

Inventor： Guy Satat

IPC: H04N13/246 ,  G06T7/70 ,  G06V20/10 ,  H04N13/271 ,  G06T7/80 ,  G06N3/084 ,  G06F18/22

CPC classification number: H04N13/246 ,  G06F18/22 ,  G06N3/084 ,  G06T7/70 ,  G06T7/85 ,  G06V20/10 ,  H04N13/271 ,  G06T2207/10012 ,  G06T2207/20224

Abstract: A method includes receiving, from a multiscopic image capture system, a plurality of images depicting a scene. The method includes determining, by application of a neural network based on the plurality of images, a disparity map of the scene. The neural network includes a plurality of layers, and the layers include a rectification layer. The method include determining a matching error of the disparity map based on differences between corresponding pixels of two or more images associated with the disparity map. The method includes back-propagating the matching error to the rectification layer of the neural network. Back-propagating the matching error includes updating one or more weights applied to the rectification layer.

公开(公告)号：US11766783B2

公开(公告)日：2023-09-26

申请号：US17817076

申请日：2022-08-03

Applicant: Google LLC

Inventor： Sean Kirmani ,  Guy Satat ,  Michael Quinlan

IPC: B25J9/16 ,  G06N3/04 ,  G06T7/70 ,  G06N20/20 ,  G06T7/277

CPC classification number: B25J9/1697 ,  B25J9/161 ,  G06N3/04 ,  G06N20/20 ,  G06T7/277 ,  G06T7/70

Abstract: A method includes receiving sensor data representing a first object in an environment and generating, based on the sensor data, a first state vector that represents physical properties of the first object. The method also includes generating, by a first machine learning model and based on the first state vector and a second state vector that represents physical properties of a second object previously observed in the environment, a metric indicating a likelihood that the first object is the same as the second object. The method further includes determining, based on the metric, to update the second state vector and updating, by a second machine learning model configured to maintain the second state vector over time and based on the first state vector, the second state vector to incorporate into the second state vector information concerning physical properties of the second object as represented in the first state vector.

公开(公告)号：US11769269B2

公开(公告)日：2023-09-26

申请号：US17878535

申请日：2022-08-01

Applicant: Google LLC

Inventor： Guy Satat ,  Michael Quinlan ,  Sean Kirmani ,  Anelia Angelova ,  Ariel Gordon

IPC: G06T7/593 ,  B25J13/08 ,  G06T3/20 ,  H04N13/128 ,  G05D1/02 ,  H04N13/00

CPC classification number: G06T7/593 ,  B25J13/089 ,  G05D1/0231 ,  G06T3/20 ,  H04N13/128 ,  G06T2207/10028 ,  H04N2013/0081

Abstract: A method includes receiving a first depth map that includes a plurality of first pixel depths and a second depth map that includes a plurality of second pixel depths. The first depth map corresponds to a reference depth scale and the second depth map corresponds to a relative depth scale. The method includes aligning the second pixel depths with the first pixel depths. The method includes transforming the aligned region of the second pixel depths such that transformed second edge pixel depths of the aligned region are coextensive with first edge pixel depths surrounding the corresponding region of the first pixel depths. The method includes generating a third depth map. The third depth map includes a first region corresponding to the first pixel depths and a second region corresponding to the transformed and aligned region of the second pixel depths.