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US 11,600,017 B2Granted
Adversarial scene adaptation for camera pose regression
AssigneesNaver Corporation, Naver Labs Corporation
InventorBoris Chidlovskii
Life of this patent
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Abstract
A pose estimation training system includes: a first model configured to generate a first 6 degrees of freedom (DoF) pose of a first camera that captured a first image from a first domain; a second model configured to generate a second 6 DoF pose of a second camera that captured a second image from a second domain, where the second domain is different than the first domain; a discriminator module configured to, based on first and second outputs from the first and second encoder modules, generate a discriminator output indicative of whether the first and second images are from the same domain; and a training control module configured to, based on the discriminator output, selectively adjust at least one weight value shared by the first model and the second model.
Claims24
A training system, comprising:
- a first model including:
- a first encoder module configured to generate a first vector representation based on a first image from a first domain using first weight values;
- a first localizer module configured to generate a second vector representation based on the first vector representation;
- and
- a first regressor module configured to generate a first 6 degrees of freedom (DoF) pose of a first camera that captured the first image based on the second vector representation using second weight values;
- a second model including:
- a second encoder module configured to generate a third vector representation based on a second image from a second domain using the first weight values,
- wherein the second domain is different than the first domain;
- a second localizer module configured to generate a fourth vector representation based on the third vector representation;
- and
- a second regressor module configured to generate a second 6 DoF pose of a second camera that captured the second image based on the fourth vector representation and using the second weight values;
- a discriminator module configured to, based on first and second outputs from the first and second encoder modules, generate a discriminator output indicative of whether the first and second images are from the same domain;
- and
- a training control module configured to, based on the discriminator output, selectively adjust at least one of:
- at least one of the first weight values;
- and
- at least one of the second weight values.
14 more elements
A training method, comprising:
- by a first model:
- generating a first vector representation based on a first image from a first domain using first weight values;
- generating a second vector representation based on the first vector representation;
- and
- generating a first 6 degrees of freedom (DoF) pose of a first camera that captured the first image based on the second vector representation using second weight values;
- by a second model:
- generating a third vector representation based on a second image from a second domain using the first weight values,
- wherein the second domain is different than the first domain;
- generating a fourth vector representation based on the third vector representation;
- and
- generating a second 6 DoF pose of a second camera that captured the second image based on the fourth vector representation and using the second weight values;
- based on first and second outputs from the first and second models, generating a discriminator output indicative of whether the first and second images are from the same domain;
- and
- based on the discriminator output, selectively adjusting at least one of:
- at least one of the first weight values;
- and
- at least one of the second weight values.
14 more elements
A non-transitory computer readable medium comprising code that, when executed by one or more processors, performs a training method, comprising:
- by a first model:
- generating a first vector representation based on a first image from a first domain using first weight values;
- generating a second vector representation based on the first vector representation;
- and
- generating a first 6 degrees of freedom (DoF) pose of a first camera that captured the first image based on the second vector representation using second weight values;
- by a second model:
- generating a third vector representation based on a second image from a second domain using the first weight values,
- wherein the second domain is different than the first domain;
- generating a fourth vector representation based on the third vector representation;
- and
- generating a second 6 DoF pose of a second camera that captured the second image based on the fourth vector representation and using the second weight values;
- based on first and second outputs from the first and second models, generating a discriminator output indicative of whether the first and second images are from the same domain;
- and
- based on the discriminator output, selectively adjusting at least one of:
- at least one of the first weight values;
- and
- at least one of the second weight values.
14 more elements
A training system, comprising:
- a first means for:
- generating a first vector representation based on a first image from a first domain using first weight values;
- generating a second vector representation based on the first vector representation;
- and
- generating a first 6 degrees of freedom (DoF) pose of a first camera that captured the first image based on the second vector representation using second weight values;
- a second means for:
- generating a third vector representation based on a second image from a second domain using the first weight values,
- wherein the second domain is different than the first domain;
- generating a fourth vector representation based on the third vector representation;
- and
- generating a second 6 DoF pose of a second camera that captured the second image based on the fourth vector representation and using the second weight values;
- a third means for, based on first and second outputs from the first and second means, generating a discriminator output indicative of whether the first and second images are from the same domain;
- and
- a fourth means for, based on the discriminator output, selectively adjust at least one of:
- at least one of the first weight values;
- and
- at least one of the second weight values.
14 more elements
A pose estimation training system, comprising:
- a first model configured to generate a first 6 degrees of freedom (DoF) pose of a first camera that captured a first image from a first domain;
- a second model configured to generate a second 6 DoF pose of a second camera that captured a second image from a second domain, where the second domain is different than the first domain;
- a discriminator module configured to, based on first and second outputs from the first and second models, generate a discriminator output indicative of whether the first and second images are from the same domain;
- and
- a training control module configured to, based on the discriminator output, selectively adjust at least one weight value shared by the first model and the second model.
2 more elements
Dependencies are inferred from the claim text.