The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 24, 2021
Filed:
Aug. 07, 2019
Yin Zhou, Cupertino, CA (US);
Vishwanath A. Sindagi, Edison, NJ (US);
Cuneyt Oncel Tuzel, Cupertino, CA (US);
Yin Zhou, Cupertino, CA (US);
Vishwanath A. Sindagi, Edison, NJ (US);
Cuneyt Oncel Tuzel, Cupertino, CA (US);
Apple Inc., Cupertino, CA (US);
Abstract
A method includes obtaining surface samples that represent three-dimensional locations of surfaces of an environment; generating a voxelized representation of the surfaces of the environment in three-dimensional space using the surface samples; obtaining an image that shows the surfaces of the environment; associating each of the surface samples with image information that corresponds to a portion of the image that is spatially correlated with a respective one of the surface samples; determining voxel features for voxels from the voxelized representation based on the surface samples and the image information using a first trained machine learning model, wherein the voxel features each describe three-dimensional shapes present within a respective one of the voxels; and detecting objects based on the voxel features.