Discriminative 3D shape modeling for few-shot instance segmentation
US12406374B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 25, 2022 |
| Grant date | Sep 2, 2025 |
| Priority date | — |
| Expiry date | Feb 26, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30128
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
An imaging controller is provided for segmenting instances from depth images including objects to be manipulated by a robot. The imaging controller includes an input interface configured to receive a depth image that includes objects, a memory configured to store instructions and a neural network trained to segment instances from the objects in the depth image, and a processor, coupled with the memory, configured to perform the instructions to segment a pickable instance using the trained neural network. The instructions include steps of selecting a tallest point in the depth image, defining a region using a shape such that the region surrounds the tallest point, sampling points in the region of the depth image, computing depth-geodesics between the tallest point and the sampled points, submitting the depth-geodesics to the neural network to segment the pickable instance among instances of the objects in the depth image, and an output interface configured to output a geometrical feature of the pickable instance to a manipulator controller of the robot.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.