Object pose estimation
US11670001B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 17, 2019 |
| Grant date | Jun 6, 2023 |
| Priority date | — |
| Expiry date | Jan 18, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2210/12
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
In an embodiment, a system provides object tracking and 6D pose estimations to a robot that performs different tasks such as manipulation and navigation. In an embodiment the 6D object pose is determined using a Rao-Blackwellized particle filtering framework, where the 3-D rotation and the 3-D translation of the object is decoupled. In an embodiment, the system provides the 3-D translation of an object along with a full distribution over the 3-D rotation. In an embodiment, the 3-D rotation is determined by discretizing the rotation space, and training an autoencoder network to construct a codebook of feature embeddings for the discretized rotations. In an embodiment, the system is able to track objects with arbitrary symmetries while also maintaining adequate posterior distributions.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.