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. 31, 2021
Filed:
Mar. 22, 2019
Microsoft Technology Licensing, Llc, Redmond, WA (US);
Andrew William Fitzgibbon, Cambridge, GB;
Erroll William Wood, Cambridge, GB;
Jingjing Shen, Cambridge, GB;
Thomas Joseph Cashman, Cambridge, GB;
Jamie Daniel Joseph Shotton, Cambridge, GB;
Microsoft Technology Licensing, LLC, Redmond, WA (US);
Abstract
In various examples there is an apparatus for detecting position and orientation of an object. The apparatus comprises a memory storing at least one frame of captured sensor data depicting the object. The apparatus also comprises a trained machine learning system configured to receive the frame of the sensor data and to compute a plurality of two dimensional positions in the frame. Each predicted two dimensional position is a position of sensor data in the frame depicting a keypoint, where a keypoint is a pre-specified 3D position relative to the object. At least one of the keypoints is a floating keypoint depicting a pre-specified position relative to the object, lying inside or outside the object's surface. The apparatus comprises a pose detector which computes the three dimensional position and orientation of the object using the predicted two dimensional positions and outputs the computed three dimensional position and orientation.