Pseudo RGB-D for self-improving monocular slam and depth prediction
US11468585B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 7, 2020 |
| Grant date | Oct 11, 2022 |
| Priority date | — |
| Expiry date | Dec 23, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2215/12
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for improving geometry-based monocular structure from motion (SfM) by exploiting depth maps predicted by convolutional neural networks (CNNs) is presented. The method includes capturing a sequence of RGB images from an unlabeled monocular video stream obtained by a monocular camera, feeding the RGB images into a depth estimation/refinement module, outputting depth maps, feeding the depth maps and the RGB images to a pose estimation/refinement module, the depths maps and the RGB images collectively defining pseudo RGB-D images, outputting camera poses and point clouds, and constructing a 3D map of a surrounding environment displayed on a visualization device.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.