Processing perspective view range images using neural networks
US11941875B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 27, 2021 |
| Grant date | Mar 26, 2024 |
| Priority date | — |
| Expiry date | May 26, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/20084
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for processing a perspective view range image generated from sensor measurements of an environment. The perspective view range image includes a plurality of pixels arranged in a two-dimensional grid and including, for each pixel, (i) features of one or more sensor measurements at a location in the environment corresponding to the pixel and (ii) geometry information comprising range features characterizing a range of the location in the environment corresponding to the pixel relative to the one or more sensors. The system processes the perspective view range image using a first neural network to generate an output feature representation. The first neural network comprises a first perspective point-set aggregation layer comprising a geometry-dependent kernel.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.