JP7193494B2 - オブジェクトの姿勢推定を生成するシステム、デバイス、および方法 - Google Patents

オブジェクトの姿勢推定を生成するシステム、デバイス、および方法 Download PDF

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JP7193494B2
JP7193494B2 JP2020051698A JP2020051698A JP7193494B2 JP 7193494 B2 JP7193494 B2 JP 7193494B2 JP 2020051698 A JP2020051698 A JP 2020051698A JP 2020051698 A JP2020051698 A JP 2020051698A JP 7193494 B2 JP7193494 B2 JP 7193494B2
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国松 橋本
タ フィン ズイ－ヌウェン
エー．カズノー エリック
エル．テッドレイク ラッセル
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トヨタ リサーチ インスティテュート，インコーポレイティド
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
    • G06F18/217—Validation; Performance evaluation; Active pattern learning techniques
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/42—Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
    • G06V10/421—Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation by analysing segments intersecting the pattern
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20076—Probabilistic image processing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]

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  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Data Mining & Analysis (AREA)
  • Human Computer Interaction (AREA)
  • Bioinformatics & Cheminformatics (AREA)
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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Psychiatry (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
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  • General Engineering & Computer Science (AREA)
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  • Image Analysis (AREA)
JP2020051698A 2019-03-21 2020-03-23 オブジェクトの姿勢推定を生成するシステム、デバイス、および方法 Active JP7193494B2 (ja)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201962821566P 2019-03-21 2019-03-21
US62/821,566 2019-03-21
US16/822,318 2020-03-18
US16/822,318 US11308314B2 (en) 2019-03-21 2020-03-18 Systems, devices, and methods for generating a pose estimate of an object

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JP2020173795A JP2020173795A (ja) 2020-10-22
JP2020173795A5 JP2020173795A5 (enExample) 2022-06-28
JP7193494B2 true JP7193494B2 (ja) 2022-12-20

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CN115427755A (zh) * 2020-04-28 2022-12-02 松下知识产权经营株式会社 填充率测量方法、信息处理装置以及程序
JP7379299B2 (ja) * 2020-08-28 2023-11-14 株式会社東芝 位置姿勢推定装置、位置姿勢推定方法及びプログラム
WO2022103479A1 (en) * 2020-11-16 2022-05-19 Waymo Llc Multi-modal 3-d pose estimation
US12055944B2 (en) * 2020-12-09 2024-08-06 Continental Autonomous Mobility US, LLC Method for determining a tow hitch position
US20240046498A1 (en) * 2020-12-21 2024-02-08 Future Health Works Ltd. Joint angle determination under limited visibility
US11908155B2 (en) * 2021-03-16 2024-02-20 Qualcomm Incorporated Efficient pose estimation through iterative refinement
EP4080456B1 (en) * 2021-04-19 2025-08-13 Instituto Tecnológico de Informática (ITI) Method for determining the orientation of a physical object in space, device and computer program product
US11931909B2 (en) * 2021-05-26 2024-03-19 Nvidia Corporation Data selection based on uncertainty quantification
US11941899B2 (en) * 2021-05-26 2024-03-26 Nvidia Corporation Data selection based on uncertainty quantification
CN113989251B (zh) * 2021-11-02 2022-05-24 河南中平自动化股份有限公司 一种矿用煤矸分选智能控制系统及方法
CN114529605B (zh) * 2022-02-16 2024-05-24 青岛联合创智科技有限公司 一种基于多视图融合的人体三维姿态估计方法
US12417552B2 (en) * 2022-04-05 2025-09-16 Bluewrist Inc. Systems and methods for pose estimation via radial voting based keypoint localization
JP2024120216A (ja) * 2023-02-24 2024-09-05 株式会社東芝 ハンドリング装置、ハンドリング方法及びプログラム
WO2024210429A2 (en) * 2023-04-04 2024-10-10 Samsung Electronics Co., Ltd. System and method for creating 3d representation of images
CN117912116B (zh) * 2024-01-24 2024-07-02 北京林业大学 一种真实场景下野生动物姿态估计方法

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Non-Patent Citations (2)

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Georgios Pavlakos et al.，6-DoF Object Pose from Semantic Keypoints，2017 IEEE International Conference on Robotics and Automation (ICRA)，2017年06月03日，https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7989233
安藤 慎吾 外３名，サポートベクトル回帰を用いた三次元物体の姿勢推定法，電子情報通信学会論文誌 Ｄ Ｖｏｌ．Ｊ８９－Ｄ Ｎｏ．８，2006年08月01日

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