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US 11,636,668 B2Granted
Bilateral convolution layer network for processing point clouds
AssigneeNVIDIA Corporation
InventorsVarun Jampani, Hang Su, Deqing Sun, Ming-Hsuan Yang, Jan Kautz
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Abstract
A method includes filtering a point cloud transformation of a 3D object to generate a 3D lattice and processing the 3D lattice through a series of bilateral convolution networks (BCL), each BCL in the series having a lower lattice feature scale than a preceding BCL in the series. The output of each BCL in the series is concatenated to generate an intermediate 3D lattice. Further filtering of the intermediate 3D lattice generates a first prediction of features of the 3D object.
Claims18
A machine-vision method comprising:
- filtering a point cloud transformation of a three dimensional object to generate a three dimensional lattice;
- processing the three dimensional lattice through a series arrangement of bilateral convolution artificial neural networks (BCL), each BCL in the series having a lower lattice feature scale than a preceding BCL in the series;
- concatenating an output of each BCL in the series to generate an intermediate three dimensional lattice;
- and
- further filtering the intermediate three dimensional lattice to generate a first prediction of features of the three dimensional object.
2 more elements
A machine-vision system comprising:
- at least one processor;
- a memory coupled to the at least one processor, the memory configured with a point cloud representation of an object;
- and
- logic to configure the at least one processor to:
- process the point cloud representation through a series arrangement of bilateral convolution artificial neural networks (BCL), each BCL in the series having a lower feature scale than a preceding BCL in the series arrangement;
- concatenate outputs of two or more of the BCLs in the series arrangement to generate an intermediate representation of the point cloud;
- and
- process the intermediate representation to generate a first prediction of features of the object.
5 more elements
A machine-vision method comprising:
- processing a point cloud lattice through a series arrangement of convolutional neural networks that utilize bilateral filtering;
- concatenating outputs of two or more convolutional neural networks in the series arrangement to generate an intermediate lattice;
- processing the intermediate lattice to predict features of the object;
- and
- back-project the predicted features of the object onto two-dimensional images of the object.
2 more elements
Dependencies are inferred from the claim text.