Mitsubishi Electric Research Laboratories, Inc.

Mitsubishi Electric Corporation

Sergio Salvatore Caccamo

Yuichi Taguchi

Esra Cansizoglu

Yukiyasu Domae

Wim Abbeloos

A method and system detects and localizes multiple instances of an object by first acquiring a frame of a three-dimensional (3D) scene with a sensor, and extracting features from the frame. The features are matched according to appearance similarity and triplets are formed among matching features. Based on 3D locations of the corresponding points in the matching triplets, a geometric transformation is computed. Matching triplets are clustered according to the computed geometric transformations. Since the set of features coining from two different object instances should have a single geometric transform, the output of clustering provides the features and poses of each object instance in the image.

Imaging system and method for object detection and localization

An imaging system for localization and mapping of a scene including static and dynamic objects. A sensor acquires a sequence of frames in motion or stationary. A memory to store a static map of static objects and an object map of each dynamic object in the scene. The static map includes a set of landmarks, and the object map includes a set of landmarks and a set of segments. A localizer registers keypoints of the frame with landmarks in the static map using frame-based registration and to register some segments in the frame with segments in the object map using a segment-based registration. A mapper to update each object map with keypoints forming each segment and keypoints registered with the corresponding object map according to the segment-based registration, and to update the static map with the remaining keypoints in the frame using the keypoints registered with the static map.

Growing community of inventors

Stockholm, Sweden

Sergio Salvatore Caccamo