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公开(公告)号：US20180247117A1
公开(公告)日：2018-08-30
申请号：US15562070
申请日：2016-09-30
Applicant: Intel Corporation
Inventor： Haibing Ren , Fei Duan , Yimin Zhang , Xiaobo Hu
CPC classification number: G06K9/00369 , G05D1/0246 , G05D1/0274 , G05D2201/0211 , G06K9/00228 , G06K9/00288 , G06K9/00664 , G06K9/00899 , G06T7/55 , G06T7/70
Abstract: Systems, apparatuses and methods may generate a map of a search environment based on a probability of a target human being present within the search environment, capture a red, green, blue, depth (RGBD) image of one or more potential target humans in the search environment based on the map, and cause a robot apparatus to obtain a frontal view position with respect to at least one of the one or more potential target humans based on the RGBD images.
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公开(公告)号：US11164327B2
公开(公告)日：2021-11-02
申请号：US16098649
申请日：2016-06-02
Applicant: INTEL CORPORATION
Inventor： Haibing Ren , Yimin Zhang , Xiaobo Hu , Fei Duan
Abstract: Techniques are provided for estimation of human orientation and facial pose, in images that include depth information. A methodology embodying the techniques includes detecting a human in an image generated by a depth camera and estimating an orientation category associated with the detected human. The estimation is based on application of a random forest classifier, with leaf node template matching, to the image. The orientation category defines a range of angular offsets relative to an angle corresponding to the human facing the depth camera. The method also includes performing a three dimensional (3D) facial pose estimation of the detected human, based on detected facial landmarks, in response to a determination that the estimated orientation category includes the angle corresponding to the human facing the depth camera.
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公开(公告)号：US10740912B2
公开(公告)日：2020-08-11
申请号：US16094997
申请日：2016-05-19
Applicant: INTEL CORPORATION
Inventor： Haibing Ren , Yimin Zhang , Fei Duan
Abstract: Techniques are provided for detection of humans in images that include depth information. A methodology embodying the techniques includes segmenting an image into multiple windows and estimating the distance to a subject in each window based on depth pixel values in that window, and filtering to reject windows with sizes that are outside of a desired window size range. The desired window size range is based on the estimated subject distance and the focal length of the depth camera that produced the image. The method further includes generating classifier features for each remaining windows (post-filtering) for use by a cascade classifier. The cascade classifier creates candidate windows for further consideration based on a preliminary detection of a human in any of the remaining windows. The method further includes merging neighboring candidate windows and executing a linear classifier on the merged candidate windows to verify the detection of a human.
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公开(公告)号：US10607070B2
公开(公告)日：2020-03-31
申请号：US15562070
申请日：2016-09-30
Applicant: Intel Corporation
Inventor： Haibing Ren , Fei Duan , Yimin Zhang , Xiaobo Hu
Abstract: Systems, apparatuses and methods may generate a map of a search environment based on a probability of a target human being present within the search environment, capture a red, green, blue, depth (RGBD) image of one or more potential target humans in the search environment based on the map, and cause a robot apparatus to obtain a frontal view position with respect to at least one of the one or more potential target humans based on the RGBD images.
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