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:
Jan. 30, 2024
Filed:
Mar. 16, 2022
Toyota Research Institute, Inc., Los Altos, CA (US);
Sergey Zakharov, San Francisco, CA (US);
Wadim Kehl, Shinjuku, JP;
Vitor Guizilini, Santa Clara, CA (US);
Adrien David Gaidon, Mountain View, CA (US);
Rares A. Ambrus, San Francisco, CA (US);
Dennis Park, Fremont, CA (US);
Joshua Tenenbaum, Cambridge, MA (US);
Jiajun Wu, Stanford, CA (US);
Fredo Durand, Cambridge, CA (US);
Vincent Sitzmann, Cambridge, MA (US);
Toyota Research Institute, Inc., Los Altos, CA (US);
Massachusetts Institute of Technology, Cambridge, MA (US);
The Board of Trustees of the Leland Standford Junior Univeristy, Standford, CA (US);
Abstract
Systems and methods described herein relate to reconstructing a scene in three dimensions from a two-dimensional image. One embodiment processes an image using a detection transformer to detect an object in the scene and to generate a NOCS map of the object and a background depth map; uses MLPs to relate the object to a differentiable database of object priors (PriorDB); recovers, from the NOCS map, a partial 3D object shape; estimates an initial object pose; fits a PriorDB object prior to align in geometry and appearance with the partial 3D shape to produce a complete shape and refines the initial pose estimate; generates an editable and re-renderable 3D scene reconstruction based, at least in part, on the complete shape, the refined pose estimate, and the depth map; and controls the operation of a robot based, at least in part, on the editable and re-renderable 3D scene reconstruction.