Object-focused active three-dimensional reconstruction
AssigneeQUALCOMM Incorporated
InventorsAliakbar Aghamohammadi, Seyed Hesameddin Najafi Shoushtari, Regan Blythe Towal
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Abstract
A method for guiding a robot equipped with a camera to facilitate three-dimensional (3D) reconstruction through sampling based planning includes recognizing and localizing an object in a two-dimensional (2D) image. The method also includes computing 3D depth maps for the localized object. A 3D object map is constructed from the depth maps. A sampling based structure is grown around the 3D object map and a cost is assigned to each edge of the sampling based structure. The sampling based structure may be searched to determine a lowest cost sequence of edges that may, in turn be used to guide the robot.
Claims20
A method for guiding a robot equipped with a camera to facilitate three-dimensional (3D) reconstruction through sampling based planning, comprising:
- identifying an object of interest;
- searching for the object of interest in an environment comprising a plurality of objects;
- recognizing and localizing the object of interest in a plurality of two-dimensional (2D) images of the environment captured via the camera;
- constructing a 3D object map based on the localized object in the plurality of 2D images, a depth variance associated with pixels of the 3D object map;
- growing a sampling based structure around the 3D object map;
- assigning a cost to each edge of the sampling based structure based on the depth variance of pixels visible along a given edge;
- searching the sampling based structure to determine a lowest cost sequence of edges;
- and
- guiding the robot through the environment based on the lowest cost sequence of edges.
An apparatus for guiding a robot equipped with a camera to facilitate three-dimensional (3D) reconstruction through sampling based planning, comprising:
- a memory;
- and
- at least one processor coupled to the memory, the at least one processor configured:
- to identify an object of interest;
- to search for the object of interest in an environment comprising a plurality of objects;
- to recognize and localize the object of interest in a plurality of two-dimensional (2D) images of the environment captured via the camera;
- to construct a 3D object map based on the localized object in the plurality of 2D images, a depth variance associated with pixels of the 3D object map;
- to grow a sampling based structure around the 3D object map;
- to assign a cost to each edge of the sampling based structure based on the depth variance of pixels visible along a given edge;
- to search the sampling based structure to determine a lowest cost sequence of edges;
- and
- to guide the robot through the environment based on the lowest cost sequence of edges.
An apparatus for guiding a robot equipped with a camera to facilitate three-dimensional (3D) reconstruction through sampling based planning, comprising:
- means for identifying an object of interest;
- means for searching for the object of interest in an environment comprising a plurality of objects;
- means for recognizing and localizing the object of interest in a plurality of two-dimensional (2D) images of the environment captured via the camera;
- means for constructing a 3D object map based on the localized object in the plurality of 2D images, a depth variance associated with pixels of the 3D object map;
- means for growing a sampling based structure around the 3D object map;
- means for assigning a cost to each edge of the sampling based structure based on the depth variance of pixels visible along a given edge;
- means for searching the sampling based structure to determine a lowest cost sequence of edges;
- and
- means for guiding the robot through the environment based on the lowest cost sequence of edges.
A non-transitory computer readable medium having encoded thereon program code for guiding a robot equipped with a camera to facilitate three-dimensional (3D) reconstruction through sampling based planning, the program code executed by a processor and comprising:
- program code to identify an object of interest;
- program code to search for the object of interest in the environment comprising a plurality of objects;
- program code to recognize and localize the object of interest in a plurality of two-dimensional (2D) images of the environment captured via the camera;
- program code to construct a 3D object map based on the localized object in the plurality of 2D images, a depth variance associated with pixels of the 3D object map;
- program code to grow a sampling based structure around the 3D object map;
- program code to assign a cost to each edge of the sampling based structure based on the depth variance of pixels visible along a given edge;
- program code to search the sampling based structure to determine a lowest cost sequence of edges;
- and
- program code to guide the robot through the environment based on the lowest cost sequence of edges.
Dependencies are inferred from the claim text.