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US 11,238,612 B2Granted
Device and method of tracking poses of multiple objects based on single-object pose estimator
AssigneesBeijing Jingdong Shangke Information Technology Co., Ltd., JD.com American Technologies Corporation
InventorsGuanghan Ning, Ping Liu, Xiaochuan Fan, Chi Zhang
Life of this patent
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Abstract
A method, a device and a non-transitory computer readable medium for tracking poses of multiple objects. The method includes detecting, by a processor, objects from each of a plurality of consecutive frames in a video sequence; estimating, by the processor, a pose of each of the objects within each of the plurality of consecutive frames; and tracking, by the processor, the poses of each of the objects across the plurality of consecutive frames.
Claims14
A method of tracking poses of multiple objects, comprising:
- detecting, by one or more processors, objects from each of a plurality of consecutive frames in a video sequence, comprising:
- determining a bounding box for each of the objects from each of the plurality of consecutive frames;
- and determining a confidence score of the bounding box for the one of the objects within the one of the plurality of consecutive frames;
- estimating, by the one or more processors, a pose of each of the objects within each of the plurality of consecutive frames, comprising:
- determining from a region defined by the bounding box for the one of the objects within the one of the plurality of consecutive frames, keypoints of the one of the objects within the one of the plurality of consecutive frames;
- determining confidence scores of the keypoints of the one of the objects within the one of the plurality of consecutive frames;
- and applying a model ensemble mode combing two or more pose estimation models to determine the keypoints of the one of the objects within the one of the plurality of consecutive frames;
- and
- tracking, by the one or more processors, the poses of each of the objects across the plurality of consecutive frames.
6 more elements
A method of tracking poses of multiple objects, comprising:
- detecting, by one or more processors, objects from each of a plurality of consecutive frames in a video sequence, comprising:
- determining a bounding box for each of the objects from each of the plurality of consecutive frames, and determining a confidence score of the bounding box for the one of the objects within the one of the plurality of consecutive frames;
- estimating, by the one or more processors, a pose of each of the objects within each of the plurality of consecutive frames;
- and
- tracking, by the one or more processors, the poses of each of the objects across the plurality of consecutive frames,
- wherein the step of estimating the pose of each of the objects within each of the plurality of consecutive frames comprises:
- regressing, by the one or more processors, a region defined by the bounding box for the one of the objects within the one of the plurality of consecutive frames into heatmaps of the one of the objects within the one of the plurality of consecutive frames;
- suppressing, by the one or more processors, the heatmaps of the one of the objects within the one of the plurality of consecutive frames into keypoints of the one of the objects within the one of the plurality of consecutive frames with cross-heatmap pose non-maximum suppression (NMS);
- and
- determining, by the one or more processors, confidence scores of the keypoints of the one of the objects within the one of the plurality of consecutive frames.
7 more elements
A device for tracking poses of multiple objects, comprising:
- a processor;
- and
- a memory storing instructions which, when executed by the processor, cause the processor to:
- detect objects from each of a plurality of consecutive frames in a video sequence by:
- determining a bounding box for each of the objects from each of the plurality of consecutive frames;
- and determining a confidence score of the bounding box for the one of the objects within the one of the plurality of consecutive frames;
- estimate a pose of each of the objects within each of the plurality of consecutive frames by:
- determining from a region defined by the bounding box for the one of the objects within the one of the plurality of consecutive frames, keypoints of the one of the objects within the one of the plurality of consecutive frames;
- determining confidence scores of the keypoints of the one of the objects within the one of the plurality of consecutive frames;
- and applying a model ensemble mode combing two or more pose estimation models to determine the keypoints of the one of the objects within the one of the plurality of consecutive frames;
- and
- track the poses of each of the objects across the plurality of consecutive frames.
9 more elements
Dependencies are inferred from the claim text.