Methods and apparatus for metric depth estimation using a monocular visual-inertial system
US12400346B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 30, 2022 |
| Grant date | Aug 26, 2025 |
| Priority date | — |
| Expiry date | Jul 21, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/20084
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Methods, apparatus, systems, and articles of manufacture are disclosed for metric depth estimation using a monocular visual-inertial system. An example apparatus for metric depth estimation includes at least one memory, instructions in the apparatus, and processor circuitry to execute the instructions to access a globally-aligned depth prediction, the globally-aligned depth prediction generated based on a monocular depth estimator, access a dense scale map scaffolding, the dense scale map scaffolding generated based on visual-inertial odometry, regress a dense scale residual map determined using the globally-aligned depth prediction and the dense scale map scaffolding, and apply the dense scale residual map to the globally-aligned depth prediction.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.