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公开(公告)号：US11994408B2
公开(公告)日：2024-05-28
申请号：US17230942
申请日：2021-04-14
发明人： Jiexiong Tang , Rares Andrei Ambrus , Hanme Kim , Vitor Guizilini , Adrien David Gaidon , Xipeng Wang , Jeff Walls , Sudeep Pillai
IPC分类号： G01C21/00
CPC分类号： G01C21/3837 , G01C21/3826 , G01C21/3896
摘要： A method for localization performed by an agent includes receiving a query image of a current environment of the agent captured by a sensor integrated with the agent. The method also includes receiving a target image comprising a first set of keypoints matching a second set of keypoints of the query image. The first set of keypoints may be generated based on a task specified for the agent. The method still further includes determining a current location based on the target image.
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公开(公告)号：US11900626B2
公开(公告)日：2024-02-13
申请号：US17093360
申请日：2020-11-09
发明人： Jiexiong Tang , Rares A. Ambrus , Vitor Guizilini , Sudeep Pillai , Hanme Kim , Adrien David Gaidon
IPC分类号： G06T7/00 , G06T7/579 , B60W60/00 , G06T7/246 , G06T7/33 , G06T7/269 , G06T7/73 , G06N3/08 , G06V10/764 , G06V10/82 , G06V10/46 , G06V20/56 , G06V20/64
CPC分类号： G06T7/579 , B60W60/001 , B60W60/0027 , G06N3/08 , G06T7/248 , G06T7/269 , G06T7/337 , G06T7/75 , G06V10/462 , G06V10/764 , G06V10/82 , G06V20/56 , G06V20/64 , B60W2420/42 , G06T2207/10016 , G06T2207/10028 , G06T2207/20081 , G06T2207/30241 , G06T2207/30248 , G06T2207/30252
摘要： A method for learning depth-aware keypoints and associated descriptors from monocular video for ego-motion estimation is described. The method includes training a keypoint network and a depth network to learn depth-aware keypoints and the associated descriptors. The training is based on a target image and a context image from successive images of the monocular video. The method also includes lifting 2D keypoints from the target image to learn 3D keypoints based on a learned depth map from the depth network. The method further includes estimating ego-motion from the target image to the context image based on the learned 3D keypoints.
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3.发明授权公开(公告)号：US11531892B2
公开(公告)日：2022-12-20
申请号：US16836378
申请日：2020-03-31
发明人： Jiexiong Tang , Rares A. Ambrus , Vitor Guizilini , Sudeep Pillai , Hanme Kim
摘要： Systems and methods for detecting and matching keypoints between different views of a scene are disclosed herein. One embodiment acquires first and second images; subdivides the first and second images into first and second pluralities of cells, respectively; processes both pluralities of cells using a neural keypoint detection network to identify a first keypoint for a particular cell in the first plurality of cells and a second keypoint for a particular cell in the second plurality of cells, at least one of the first and second keypoints lying in a cell other than the particular cell in the first or second plurality of cells for which it was identified; and classifies the first keypoint and the second keypoint as a matching keypoint pair based, at least in part, on a comparison between a first descriptor associated with the first keypoint and a second descriptor associated with the second keypoint.
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公开(公告)号：US11256986B2
公开(公告)日：2022-02-22
申请号：US16836355
申请日：2020-03-31
发明人： Jiexiong Tang , Rares A. Ambrus , Vitor Guizilini , Sudeep Pillai , Hanme Kim
摘要： Systems and methods for training a neural keypoint detection network are disclosed herein. One embodiment extracts a portion of an input image; applies a transformation to the portion of the input image to produce a transformed portion of the input image; processes the portion of the input image and the transformed portion of the input image using the neural keypoint detection network to identify one or more candidate keypoint pairs between the portion of the input image and the transformed portion of the input image; and processes the one or more candidate keypoint pairs using an inlier-outlier neural network, the inlier-outlier neural network producing an indirect supervisory signal to train the neural keypoint detection network to identify one or more candidate keypoint pairs between the portion of the input image and the transformed portion of the input image.
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公开(公告)号：US20210089836A1
公开(公告)日：2021-03-25
申请号：US16836355
申请日：2020-03-31
发明人： Jiexiong Tang , Rares A. Ambrus , Vitor Guizilini , Sudeep Pillai , Hanme Kim
摘要： Systems and methods for training a neural keypoint detection network are disclosed herein. One embodiment extracts a portion of an input image; applies a transformation to the portion of the input image to produce a transformed portion of the input image; processes the portion of the input image and the transformed portion of the input image using the neural keypoint detection network to identify one or more candidate keypoint pairs between the portion of the input image and the transformed portion of the input image; and processes the one or more candidate keypoint pairs using an inlier-outlier neural network, the inlier-outlier neural network producing an indirect supervisory signal to train the neural keypoint detection network to identify one or more candidate keypoint pairs between the portion of the input image and the transformed portion of the input image.
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公开(公告)号：US12080013B2
公开(公告)日：2024-09-03
申请号：US17368703
申请日：2021-07-06
CPC分类号： G06T7/596 , G06T7/536 , G06T7/70 , G06T2207/10028 , G06T2207/30252
摘要： A method for estimating depth of a scene includes selecting an image of the scene from a sequence of images of the scene captured via an in-vehicle sensor of a first agent. The method also includes identifying previously captured images of the scene. The method further includes selecting a set of images from the previously captured images based on each image of the set of images satisfying depth criteria. The method still further includes estimating the depth of the scene based on the selected image and the selected set of images.
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公开(公告)号：US11830253B2
公开(公告)日：2023-11-28
申请号：US17230947
申请日：2021-04-14
CPC分类号： G06V20/56 , G05D1/0221 , G05D1/0246 , G06V10/751
摘要： A method for keypoint matching includes receiving an input image obtained by a sensor of an agent. The method also includes identifying a set of keypoints of the received image. The method further includes augmenting the descriptor of each of the keypoints with semantic information of the input image. The method also includes identifying a target image based on one or more semantically augmented descriptors of the target image matching one or more semantically augmented descriptors of the input image. The method further includes controlling an action of the agent in response to identifying the target.
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8.发明申请公开(公告)号：US20210089890A1
公开(公告)日：2021-03-25
申请号：US16836378
申请日：2020-03-31
发明人： Jiexiong Tang , Rares A. Ambrus , Vitor Guizilini , Sudeep Pillai , Hanme Kim
摘要： Systems and methods for detecting and matching keypoints between different views of a scene are disclosed herein. One embodiment acquires first and second images; subdivides the first and second images into first and second pluralities of cells, respectively; processes both pluralities of cells using a neural keypoint detection network to identify a first keypoint for a particular cell in the first plurality of cells and a second keypoint for a particular cell in the second plurality of cells, at least one of the first and second keypoints lying in a cell other than the particular cell in the first or second plurality of cells for which it was identified; and classifies the first keypoint and the second keypoint as a matching keypoint pair based, at least in part, on a comparison between a first descriptor associated with the first keypoint and a second descriptor associated with the second keypoint.
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公开(公告)号：US12073580B2
公开(公告)日：2024-08-27
申请号：US17093393
申请日：2020-11-09
发明人： Jiexiong Tang , Rares A. Ambrus , Vitor Guizilini , Sudeep Pillai , Hanme Kim , Adrien David Gaidon
IPC分类号： G06T7/00 , B60W60/00 , G06N3/08 , G06T7/246 , G06T7/269 , G06T7/33 , G06T7/579 , G06T7/73 , G06V10/46 , G06V10/764 , G06V10/82 , G06V20/56 , G06V20/64
CPC分类号： G06T7/579 , B60W60/001 , B60W60/0027 , G06N3/08 , G06T7/248 , G06T7/269 , G06T7/337 , G06T7/75 , G06V10/462 , G06V10/764 , G06V10/82 , G06V20/56 , G06V20/64 , B60W2420/42 , G06T2207/10016 , G06T2207/10028 , G06T2207/20081 , G06T2207/30241 , G06T2207/30248 , G06T2207/30252
摘要： A method for learning depth-aware keypoints and associated descriptors from monocular video for monocular visual odometry is described. The method includes training a keypoint network and a depth network to learn depth-aware keypoints and the associated descriptors. The training is based on a target image and a context image from successive images of the monocular video. The method also includes lifting 2D keypoints from the target image to learn 3D keypoints based on a learned depth map from the depth network. The method further includes estimating a trajectory of an ego-vehicle based on the learned 3D keypoints.
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公开(公告)号：US11741728B2
公开(公告)日：2023-08-29
申请号：US17231905
申请日：2021-04-15
发明人： Jiexiong Tang , Rares Andrei Ambrus , Jie Li , Vitor Guizilini , Sudeep Pillai , Adrien David Gaidon
IPC分类号： G06V10/82 , G06V20/64 , G05D1/02 , G06T7/73 , G06V20/56 , G06V10/75 , G06V10/74 , G06F18/22 , G06V10/762 , G06V10/764
CPC分类号： G06V20/64 , G05D1/0221 , G05D1/0246 , G06F18/22 , G06T7/74 , G06V10/751 , G06V10/761 , G06V10/763 , G06V10/764 , G06V10/82 , G06V20/56 , G06T2207/10024 , G06T2207/30252
摘要： A method for keypoint matching includes determining a first set of keypoints corresponding to a current environment of the agent. The method further includes determining a second set of keypoints from a pre-built map of the current environment. The method still further includes identifying matching pairs of keypoints from the first set of keypoints and the second set of keypoints based on geometrical similarities between respective keypoints of the first set of keypoints and the second set of keypoints. The method also includes determining a current location of the agent based on the identified matching pairs of keypoints. The method further includes controlling an action of the agent based on the current location.
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