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. 13, 2024
Filed:
Feb. 11, 2021
Imperial College Innovations Limited, London, GB;
John Brendan McCormac, Banbridge, GB;
Ronald Clark, Cambridge, GB;
Michael Bloesch, London, GB;
Andrew Davison, London, GB;
Stefan Leutenegger, Munich, DE;
Imperial College Innovations Limited, London, GB;
Abstract
A method comprising applying an object recognition pipeline to frames of video data. The object recognition pipeline provides a mask output of objects detected in the frames. The method includes fusing the mask output of the object recognition pipeline with depth data associated with the frames of video data to generate a map of object instances, including projecting the mask output to a model space for the map of object instances using a camera pose estimate and the depth data. An object instance in the map of object instances is defined using surface-distance metric values within a three-dimensional object volume, and has an object pose estimate indicating a transformation of the object instance to the model space. The object pose estimate and the camera pose estimate form nodes of a pose graph for the map of model instances.