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:
Oct. 04, 2022
Filed:
Apr. 21, 2020
Toyota Research Institute, Inc., Los Altos, CA (US);
Wadim Kehl, Mountain View, CA (US);
Sergey Zakharov, Kirchseeon, DE;
Toyota Research Institute, Inc., Los Altos, CA (US);
Abstract
Systems and methods for three-dimensional object detection are disclosed herein. One embodiment inputs, to a neural network, a two-dimensional label associated with an object to produce a Normalized-Object-Coordinate-Space (NOCS) image and a shape vector, the shape vector mapping to a continuously traversable coordinate shape space (CSS); decodes the NOCS image and the shape vector to an object model in the CSS; back-projects, in a frustum, the NOCS image to a LIDAR point cloud; identifies correspondences between the LIDAR point cloud and the object model to estimate an affine transformation between the LIDAR point cloud and the object model; iteratively refines the affine transformation using a differentiable SDF renderer; extracts automatically a three-dimensional label for the object based, at least in part, on the iteratively refined affine transformation; and performs three-dimensional object detection of the object based, at least in part, on the extracted three-dimensional label for the object.