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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.:

US 11482014 B1

PDFFull Text
Date of Patent:
Oct. 25, 2022

Filed:

Sep. 18, 2020

3d auto-labeling with structural and physical constraints

Applicant:

Toyota Research Institute, Inc., Los Altos, CA (US);

Inventors:

Wadim Kehl, Mountain View, CA (US);

Sergey Zakharov, Kirchseeon, DE;

Adrien David Gaidon, Mountain View, CA (US);

Assignee:

TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US);

Attorney:

Seyfarth Shaw LLP

Primary Examiner:

Delomia L Gilliard

Int. Cl.
CPC ...
G06V 20/58 (2022.01); G06T 7/70 (2017.01); B60W 60/00 (2020.01); G06T 7/30 (2017.01); G01S 7/48 (2006.01); G01S 17/42 (2006.01); G01S 17/89 (2020.01); G06N 3/04 (2006.01); G06N 3/08 (2006.01); G06V 20/64 (2022.01);
U.S. Cl.
CPC ...
G06V 20/584 (2022.01); B60W 60/0027 (2020.02); G01S 7/4802 (2013.01); G01S 7/4808 (2013.01); G01S 17/42 (2013.01); G01S 17/89 (2013.01); G06N 3/04 (2013.01); G06N 3/08 (2013.01); G06T 7/30 (2017.01); G06T 7/70 (2017.01); G06V 20/64 (2022.01); B60W 2420/42 (2013.01); B60W 2552/00 (2020.02); B60W 2554/404 (2020.02); G06T 2207/10016 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30196 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30252 (2013.01);
Abstract

A method for 3D auto-labeling of objects with predetermined structural and physical constraints includes identifying initial object-seeds for all frames from a given frame sequence of a scene. The method also includes refining each of the initial object-seeds over the 2D/3D data, while complying with the predetermined structural and physical constraints to auto-label 3D object vehicles within the scene. The method further includes linking the auto-label 3D object vehicles over time into trajectories while respecting the predetermined structural and physical constraints.

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