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公开(公告)号：US20240312197A1
公开(公告)日：2024-09-19
申请号：US18605594
申请日：2024-03-14
Applicant: SRI International
Inventor： Han-Pang Chiu , Niluthpol C. Mithun , Supun Samarasekera , Abhinav Rajvanshi , Xingchen Zhao , Md Nazmul Karim
IPC: G06V10/82 , G06V10/771 , G06V10/774 , G06V10/776
CPC classification number: G06V10/82 , G06V10/771 , G06V10/7753 , G06V10/776
Abstract: In general, techniques are described for unsupervised domain adaptation of models with pseudo-label curation. In an example, a method includes generating a plurality of pseudo-labels for a dataset of unlabeled data using a source machine learning model; estimating a reliability of each pseudo-label of the plurality of pseudo-labels using one or more reliability measures; selecting a subset of the plurality of pseudo-labels having estimated reliabilities that satisfy a reliability threshold; and training, using one or more curriculum learning techniques, a target machine learning model starting with the selected subset of the plurality of pseudo-labels and the corresponding unlabeled data.
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公开(公告)号：US12062174B2
公开(公告)日：2024-08-13
申请号：US17476377
申请日：2021-09-15
Applicant: SRI International
Inventor： Anil Usumezbas , Bogdan Calin Mihai Matei , Rakesh Kumar , Supun Samarasekera
IPC: G06T7/10 , G06T3/40 , G06T17/20 , G06V10/776 , G06V20/70
CPC classification number: G06T7/10 , G06T3/40 , G06T17/205 , G06V10/776 , G06V20/70 , G06T2207/10028 , G06T2207/20072 , G06T2207/20081 , G06T2207/20221 , G06T2207/30181 , G06T2210/56
Abstract: A method, machine readable medium and system for semantic segmentation of 3D point cloud data includes determining ground data points of the 3D point cloud data, categorizing non-ground data points relative to a ground surface determined from the ground data points to determine legitimate non-ground data points, segmenting the determined legitimate non-ground and ground data points based on a set of common features, applying logical rules to a data structure of the features built on the segmented determined non-ground and ground data points based on their spatial relationships and incorporated within a machine learning system, and constructing a 3D semantics model from the application of the logical rules to the data structure.
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公开(公告)号：US11676296B2
公开(公告)日：2023-06-13
申请号：US16101201
申请日：2018-08-10
Applicant: SRI International
Inventor： Han-Pang Chiu , Supun Samarasekera , Rakesh Kumar , Ryan Villamil , Varun Murali , Gregory Drew Kessler
IPC: G06T7/579 , G06T19/00 , G06T7/136 , G06N3/08 , G06F16/903 , G06F16/583 , G06T7/521 , G06T7/143 , G06T7/11 , G06V20/58 , G06V20/56 , G06F18/24 , G06V20/20 , G01S17/89 , G01S17/86
CPC classification number: G06T7/579 , G06F16/5838 , G06F16/903 , G06F18/24 , G06N3/08 , G06T7/11 , G06T7/136 , G06T7/143 , G06T7/521 , G06T19/006 , G06V20/20 , G06V20/56 , G06V20/582 , G06V20/588 , G01S17/86 , G01S17/89 , G06T2207/10016 , G06T2207/10021 , G06T2207/10028 , G06T2207/10032 , G06T2207/30212 , G06T2207/30244 , G06T2207/30248
Abstract: Techniques for augmenting a reality captured by an image capture device are disclosed. In one example, a system includes an image capture device that generates a two-dimensional frame at a local pose. The system further includes a computation engine executing on one or more processors that queries, based on an estimated pose prior, a reference database of three-dimensional mapping information to obtain an estimated view of the three-dimensional mapping information at the estimated pose prior. The computation engine processes the estimated view at the estimated pose prior to generate semantically segmented sub-views of the estimated view. The computation engine correlates, based on at least one of the semantically segmented sub-views of the estimated view, the estimated view to the two-dimensional frame. Based on the correlation, the computation engine generates and outputs data for augmenting a reality represented in at least one frame captured by the image capture device.
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公开(公告)号：US20220222824A1
公开(公告)日：2022-07-14
申请号：US17476377
申请日：2021-09-15
Applicant: SRI International
Inventor： Anil Usumezbas , Bogdan Calin Mihai Matei , Rakesh Kumar , Supun Samarasekera
IPC: G06T7/10 , G06T17/20 , G06T3/40 , G06V20/70 , G06V10/776
Abstract: A method, machine readable medium and system for semantic segmentation of 3D point cloud data includes determining ground data points of the 3D point cloud data, categorizing non-ground data points relative to a ground surface determined from the ground data points to determine legitimate non-ground data points, segmenting the determined legitimate non-ground and ground data points based on a set of common features, applying logical rules to a data structure of the features built on the segmented determined non-ground and ground data points based on their spatial relationships and incorporated within a machine learning system, and constructing a 3D semantics model from the application of the logical rules to the data structure.
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公开(公告)号：US11361470B2
公开(公告)日：2022-06-14
申请号：US16667047
申请日：2019-10-29
Applicant: SRI International
Inventor： Han-Pang Chiu , Zachary Seymour , Karan Sikka , Supun Samarasekera , Rakesh Kumar , Niluthpol Mithun
IPC: G01S17/89 , G01S7/48 , G06F16/583 , G06K9/62 , G06T7/00 , G06T7/73 , G06V10/44 , G06V10/82 , G06V20/00
Abstract: A method, apparatus and system for visual localization includes extracting appearance features of an image, extracting semantic features of the image, fusing the extracted appearance features and semantic features, pooling and projecting the fused features into a semantic embedding space having been trained using fused appearance and semantic features of images having known locations, computing a similarity measure between the projected fused features and embedded, fused appearance and semantic features of images, and predicting a location of the image associated with the projected, fused features. An image can include at least one image from a plurality of modalities such as a Light Detection and Ranging image, a Radio Detection and Ranging image, or a 3D Computer Aided Design modeling image, and an image from a different sensor, such as an RGB image sensor, captured from a same geo-location, which is used to determine the semantic features of the multi-modal image.
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Patent Agency Ranking
公开(公告)号：US11263443B2
公开(公告)日：2022-03-01
申请号：US16868870
申请日：2020-05-07
Applicant: SRI International
Inventor： Jonathan D. Brookshire , Supun Samarasekera , Kshitij Singh Minhas
Abstract: A method, apparatus and system for human skeleton pose estimation includes synchronously capturing images of a human moving through an area from a plurality of different points of view, for each of the plurality of captured images, determining a bounding box that bounds the human in the captured image and identifying pixel locations of the bounding box in the image, for each of the plurality of captured images, determining 2D and single-view 3D skeletons from the pixel locations of the bounding box, determining a first, multi-view 3D skeleton using a combination of the 2D and single-view 3D skeletons, and optimizing the first, multi-view 3D skeleton to determine a final 3D skeleton pose for the human. The method, apparatus and system can further include illuminating the area with structured light during the capturing of the images of the human moving through the area.
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公开(公告)号：US20210142530A1
公开(公告)日：2021-05-13
申请号：US17157065
申请日：2021-01-25
Applicant: SRI International
Inventor： Supun Samarasekera , Taragay Oskiper , Rakesh Kumar , Mikhail Sizintsev , Vlad Branzoi
Abstract: Methods and apparatuses for tracking objects comprise one or more optical sensors for capturing one or more images of a scene, wherein the one or more optical sensors capture a wide field of view and corresponding narrow field of view for the one or more images of a scene, a localization module, coupled to the one or more optical sensors for determining the location of the apparatus, and determining the location of one more objects in the one or more images based on the location of the apparatus and an augmented reality module, coupled to the localization module, for enhancing a view of the scene on a display based on the determined location of the one or more objects.
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公开(公告)号：US20210019507A1
公开(公告)日：2021-01-21
申请号：US16868870
申请日：2020-05-07
Applicant: SRI International
Inventor： Jonathan D. Brookshire , Supun Samarasekera , Kshitij Singh Minhas
Abstract: A method, apparatus and system for human skeleton pose estimation includes synchronously capturing images of a human moving through an area from a plurality of different points of view, for each of the plurality of captured images, determining a bounding box that bounds the human in the captured image and identifying pixel locations of the bounding box in the image, for each of the plurality of captured images, determining 2D and single-view 3D skeletons from the pixel locations of the bounding box, determining a first, multi-view 3D skeleton using a combination of the 2D and single-view 3D skeletons, and optimizing the first, multi-view 3D skeleton to determine a final 3D skeleton pose for the human. The method, apparatus and system can further include illuminating the area with structured light during the capturing of the images of the human moving through the area.
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公开(公告)号：US20200218253A1
公开(公告)日：2020-07-09
申请号：US16639216
申请日：2018-08-17
Applicant: SRI International
Inventor： Bhaskar Ramamurthy , Supun Samarasekera , Thomas Low , Manish Kothari , John Peter Marcotullio , Jonathan Brookshire , Tobenna Arodiogbu , Usman Ghani
Abstract: A hybrid control system includes a control agent and a control engine. The control engine is configured to install a master plan to the control agent. The master plan includes a plurality of high-level tasks. The control agent is configured to operate according to the master plan to, for each high-level task of the high-level tasks, obtain one or more low-level controls and to perform the one or more low-level controls to realize the high-level task. The control agent is configured to operate according to the master plan to transition between the plurality of high-level tasks thereby causing a seamless transition between operating at least partially autonomously and operating at least partially based on input from the tele-operator, based at least on context for the control agent, to operate at least partially autonomously and at least partially based on input from the tele-operator during execution of the master plan.
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公开(公告)号：US20190114507A1
公开(公告)日：2019-04-18
申请号：US16163273
申请日：2018-10-17
Applicant: SRI International
Inventor： Han-Pang Chiu , Supun Samarasekera , Rakesh Kumar , Varun Murali
Abstract: Techniques are disclosed for improving navigation accuracy for a mobile platform. In one example, a navigation system comprises an image sensor that generates a plurality of images, each image comprising one or more features. A computation engine executing on one or more processors of the navigation system processes each image of the plurality of images to determine a semantic class of each feature of the one or more features of the image. The computation engine determines, for each feature of the one or more features of each image and based on the semantic class of the feature, whether to include the feature as a constraint in a navigation inference engine. The computation engine generates, based at least on features of the one or more features included as constraints in the navigation inference engine, navigation information. The computation engine outputs the navigation information to improve navigation accuracy for the mobile platform.
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