Control system using autoencoder
AssigneeMicrosoft Technology Licensing, LLC
InventorsFederica Bogo, Thomas Joseph Cashman, Andrew William Fitzgibbon, Luca Ballan, Jan Stuehmer
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Abstract
A control system comprises a memory storing a sequence of sensor data received from one or more sensors. The control system has a processor which processes the sensor data to compute a sequence of derived sensor data values. An autoencoder receives the sequence of derived sensor data values and computes a forward prediction of the sequence of derived sensor data values, the autoencoder having been trained imposing a relationship on positions of the derived sensor data values encoded in a latent space of the autoencoder. A processor initiates control of an apparatus using the forward prediction.
Claims20
A control system comprising:
- a memory comprising a parameterized model of an object;
- a processor;
- and
- a pose tracker that causes the processor to perform the following operations:
- access the parameterized model of an object;
- receive captured data depicting the object;
- apply current values of parameters to the parameterized model of the object;
- compute a correspondence for each of a plurality of observed data points in the captured data;
- compute an optimization over the current values of the parameters and the correspondences;
- and
- based at last on computing the optimization, update the current values of the parameters and the correspondences, wherein a decision to update the current values of the parameters is based at least on one or more factors comprising a current performance of the control system, a confidence level of an output of an autoencoder, a difference in a number of parameters of a latent space of the autoencoder and the number of parameters of the parameterized model of the object, a difference in a type of parameters of the latent space of the autoencoder and the parameters of the parameterized model of the object.
A method comprising:
- accessing a parameterized model of an object;
- receiving captured data depicting the object;
- applying current values of parameters to the parameterized model of the object;
- computing a correspondence for each of a plurality of observed data points in the captured data;
- computing an optimization over the current values of the parameters and the correspondences;
- and
- based at last on computing the optimization, update the current values of the parameters and the correspondences, wherein a decision to update the current values of the parameters is based at least on one or more factors comprising a current performance of a control system, a confidence level of an output of an autoencoder, a difference in a number of parameters of a latent space of the autoencoder and the number of parameters of the parameterized model of the object, a difference in a type of parameters of the latent space of the autoencoder and the parameters of the parameterized model of the object.
One or more computer storage media comprising computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the following operations:
- accessing a parameterized model of an object;
- receiving captured data depicting the object;
- applying current values of parameters to the parameterized model of the object;
- computing a correspondence for each of a plurality of observed data points in the captured data;
- computing an optimization over the current values of the parameters and the correspondences;
- and
- based at last on computing the optimization, update the current values of the parameters and the correspondences, wherein a decision to update the current values of the parameters is based at least on one or more factors comprising a current performance of a control system, a confidence level of an output of an autoencoder, a difference in a number of parameters of a latent space of the autoencoder and the number of parameters of the parameterized model of the object, a difference in a type of parameters of the latent space of the autoencoder and the parameters of the parameterized model of the object.
Dependencies are inferred from the claim text.