公开(公告)号：US20230206553A1

公开(公告)日：2023-06-29

申请号：US17927405

申请日：2020-07-22

Applicant: INTEL CORPORATION

Inventor： Xuesong SHI

IPC: G06T17/00 ,  G06T15/00

CPC classification number: G06T17/005 ,  G06T15/005

Abstract: Described herein are scene reconstruction methods and techniques for reconstructing scenes by modeling planar areas using 2.5D models and non-planar areas with 3D models. In particular, depth data for an indoor scene is received. Planar areas of the indoor scene are identified based on the depth data and modeled using a 2.5D planar model. Other areas are modeled using 3D models and the entire scene is reconstructed using both the 2.5D models and the 3D models.

公开(公告)号：US20240212204A1

公开(公告)日：2024-06-27

申请号：US18568676

申请日：2021-08-31

Applicant: Intel Corporation

Inventor： Yuxin TIAN ,  Xuesong SHI ,  Peng WANG ,  Yujie WANG

IPC: G06T7/73 ,  G06T7/11

CPC classification number: G06T7/73 ,  G06T7/11 ,  G06T2207/20021 ,  G06T2207/20072

Abstract: The disclosure provides techniques for map optimization for a localization and mapping system. The map optimization method includes segmenting, based on a preset segmentation condition, a trajectory tracked by the localization and mapping system to obtain a plurality of segments of the trajectory, each segment being partitioned into a head part, an interior part and a tail part; performing a global optimization process based on frames in the head and tail parts of each segment to obtain optimized mapping results for the frames in the head and tail parts of the segment; estimating optimized mapping results for frames in the interior part of each segment based on the optimized mapping results for the frames in the head and tail parts of the segment; and updating a map built by the localization and mapping system according to the optimized mapping results for the frames in each segment.

公开(公告)号：US20240095957A1

公开(公告)日：2024-03-21

申请号：US18254182

申请日：2020-12-25

Applicant: Intel Corporation

Inventor： Xuesong SHI ,  Yujie WANG ,  Zhigang WANG ,  Peng WANG ,  Robert WATTS

IPC: G06T7/80 ,  G06T7/33 ,  G06T7/73

CPC classification number: G06T7/80 ,  G06T7/33 ,  G06T7/73 ,  G06T2207/30208 ,  G06T2207/30232

Abstract: The disclosure provides techniques for registering a camera into a map via a robot. A method for registering a camera into a map may include: collecting an observation of a calibration marker from an image captured by the camera, the calibration maker being attached to a robot capable of moving in a view of the camera; calculating, for the observation of the calibration marker, a transform T (camera, marker) between a camera frame of the camera and a marker frame of the calibration marker; obtaining, for the observation of the calibration marker, a transform T (world, robot) between a world frame of the map and a robot frame of the robot; and performing, when more than a predetermined number of observations of the calibration marker are collected during movement of the robot, a calibration process to calculate a transform T(world, camera) between the world frame and the camera frame based on the transform T (camera, marker) and the transform T(world, robot) for each observation of the calibration marker.

公开(公告)号：US20240029300A1

公开(公告)日：2024-01-25

申请号：US18254181

申请日：2020-12-25

Applicant: INTEL CORPORATION

Inventor： Xuesong SHI ,  Yuxin TIAN ,  Sangeeta GHANGAM ,  Dawei WANG

IPC: G06T7/73 ,  G06T7/60 ,  G06T3/00 ,  G06T1/00

CPC classification number: G06T7/74 ,  G06T7/60 ,  G06T3/0075 ,  G06T1/0014 ,  G06T2207/10024 ,  G06T2207/10028

Abstract: A method for re-localization of the robot may include retrieving, for each of keyframes in a keyframe database of the robot, image features and a pose of the keyframe, the image features of the keyframe comprising a global descriptor and local descriptors of the keyframe (210); extracting image features of a current frame captured by the robot, the image features of the current frame comprising a global descriptor and local descriptors of the current frame (220); determining one or more rough matching frames from the keyframes based on comparison between the global descriptor of each keyframe and the global descriptor of the current frame (230); determining a final matching frame from the one or more rough matching frames based on comparison between the local descriptors of each rough matching frame and the local descriptors of the current frame (240); and calculating a pose of the current frame based on a pose of the current frame based on a pose of the final matching frame (250).

公开(公告)号：US20200217962A1

公开(公告)日：2020-07-09

申请号：US16633976

申请日：2017-08-28

Applicant: Intel Corporation

Inventor： Xuesong SHI

IPC: G01S17/42 ,  G01S7/48 ,  G01S17/89

Abstract: Apparatus for determining a current pose of a mobile autonomous apparatus is presented. In embodiments, an apparatus may include interface circuitry to receive detection and ranging data outputted by a Light Detection and Ranging (LIDAR) sensor that nominally sweeps and provides D degrees of detection and ranging data in continuous plurality of quanta, each covering a portion of the D degrees sweep, every time period T. The apparatus may further include pose estimation circuitry coupled to the interface circuitry to determine and provide a current pose of the mobile autonomous apparatus every fractional time period t, independent of when the LIDAR sensor actually completes each sweep. In embodiments, the apparatus may be disposed on the mobile autonomous apparatus.