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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: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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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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