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公开(公告)号:US11804040B2
公开(公告)日:2023-10-31
申请号:US17457408
申请日:2021-12-02
Applicant: QUALCOMM Technologies, Inc.
Inventor: Shreyas Hampali , Vincent Lepetit , Clemens Arth
IPC: G06V20/20 , G06T7/73 , G06V40/10 , G06T9/00 , G06T7/80 , G06T7/50 , G06T19/00 , G06V10/40 , G06V10/82 , G06K9/62 , G06N3/04 , G06F18/213 , G06F18/2431
CPC classification number: G06V20/20 , G06F18/213 , G06F18/2431 , G06N3/04 , G06T7/50 , G06T7/73 , G06T7/80 , G06T9/002 , G06T19/006 , G06V10/40 , G06V10/82 , G06V40/11 , G06T2200/08 , G06T2207/20081 , G06T2207/20084 , G06T2207/30196 , G06T2207/30244
Abstract: Systems and techniques are provided for determining one or more poses of one or more objects. For example, a process can include determining, using a machine learning system, a plurality of keypoints from an image. The plurality of keypoints are associated with at least one object in the image. The process can include determining a plurality of features from the machine learning system based on the plurality of keypoints. The process can include classifying the plurality of features into a plurality of joint types. The process can include determining pose parameters for the at least one object based on the plurality of joint types.
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公开(公告)号:US11797724B2
公开(公告)日:2023-10-24
申请号:US17454020
申请日:2021-11-08
Applicant: QUALCOMM Technologies, Inc.
Inventor: Shreyas Hampali , Sinisa Stekovic , Friedrich Fraundorfer , Vincent Lepetit
CPC classification number: G06F30/13 , G06T7/55 , G06T17/20 , G06T2207/10028 , G06T2210/12
Abstract: Systems and techniques are provided for determining environmental layouts. For example, based on one or more images of an environment and depth information associated with the one or more images, a set of candidate layouts and a set of candidate objects corresponding to the environment can be detected. The set of candidate layouts and set of candidate objects can be organized as a structured tree. For instance, a structured tree can be generated including nodes corresponding to the set of candidate layouts and the set of candidate objects. A combination of objects and layouts can be selected in the structured tree (e.g., based on a search of the structured tree, such as using a Monte-Carlo Tree Search (MCTS) algorithm or adapted MCTS algorithm). A three-dimensional (3D) layout of the environment can be determined based on the combination of objects and layouts in the structured tree.
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