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

IPC: G06K9/00 ,  G05D1/02 ,  G06T7/55 ,  G06T7/70

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.

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

IPC: G06K9/00 ,  G05D1/02 ,  B25J9/00 ,  G06T7/70 ,  G06T7/55

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.

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

IPC: G06T7/00 ,  G06T7/73 ,  G06K9/00 ,  G06K9/62 ,  G06T7/50

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.