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

IPC: G06T17/20 ,  G06F30/13 ,  G06T7/55

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.