Monocular 3D vehicle modeling and auto-labeling using semantic keypoints
US11721065B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 25, 2022 |
| Grant date | Aug 8, 2023 |
| Priority date | — |
| Expiry date | Aug 25, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V2201/08
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for 3D object modeling includes linking 2D semantic keypoints of an object within a video stream into a 2D structured object geometry. The method includes inputting, to a neural network, the object to generate a 2D NOCS image and a shape vector, the shape vector being mapped to a continuously traversable coordinate shape. The method includes applying a differentiable shape renderer to the SDF shape and the 2D NOCS image to render a shape of the object corresponding to a 3D object model in the continuously traversable coordinate shape space. The method includes lifting the linked, 2D semantic keypoints of the 2D structured object geometry to a 3D structured object geometry. The method includes geometrically and projectively aligning the 3D object model, the 3D structured object geometry, and the rendered shape to form a rendered object. The method includes generating 3D bounding boxes from the rendered object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.