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US 12,217,518 B2Granted
Method and apparatus with object detection
AssigneeSamsung Electronics Co., Ltd.
InventorsWeiming Li, Jiyeon Kim, Qiang Wang, Hyun Sung Chang, Sunghoon Hong, Chao Zhang
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Abstract
A method with object detection includes obtaining a first point cloud feature based on point cloud data of an image and determining at least one object in the image based on the first point cloud feature.
Claims19
A processor-implemented method for object identification based on point cloud features extracted from point cloud data corresponding to an image, the method comprising:
- generating first appearance features and first geometric features, both of respective objects of the image, dependent on the extracted point cloud features and correspondingly determined geometric centers of the respective objects;
- and
- identifying the respective objects by generating corresponding second appearance features and second geometric features based on:
- the extracted point cloud features of an object from the respective objects;
- and
- appearance relationship weightings and geometric relationship weightings, which are respectively based on the generated first appearance features and the generated first geometric features,
- wherein the second appearance features that correspond to the object are determined based on an application of a relationship weighting to the extracted point cloud features of the object, with the relationship weighting being based on both a corresponding one of the appearance relationship weightings and a corresponding one of the geometric relationship weightings;
- and
- controlling an operation of an augmented reality system based on the identified respective objects.
6 more elements
A method with object detection, the method comprising:
- extracting respective first point cloud features of respective objects in an image from point cloud data corresponding to the image;
- generating first appearance features and first geometric features of respective objects in the image based on the respective first point cloud features;
- generating appearance relationship weightings and geometric relationship weightings between candidate regions corresponding to the respective objects in the image, based on the first appearance features and the first geometric features of the respective objects in the image;
- generating second appearance features and second geometric features of the respective objects in the image, based on the respective first point cloud features, the appearance relationship weightings, and the geometric relationship weightings;
- determining one object from the respective objects in the image, based on the second appearance features and the second geometric features corresponding to the one object;
- and
- controlling an operation of an augmented reality system based on the determined at least one object,
- wherein the obtaining of the second appearance features of the one object includes applying a relationship weight corresponding to the one object to the respective first point cloud features of the one object, where the relationship weight is based on the appearance relationship weighting corresponding to the one object and the geometric relationship weighting corresponding to the one object.
5 more elements
An apparatus for object identification based on point cloud features extracted from point cloud data corresponding to an image, the apparatus comprising:
- one or more processors configured to:
- generate first appearance features and first geometric features, both of respective objects of the image, dependent on the extracted point cloud features and correspondingly determined geometric centers of the respective objects;
- and
- identify the respective objects by generating corresponding second appearance features and second geometric features based on:
- the extracted point cloud features of an object from the respective objects;
- and
- appearance relationship weightings and geometric relationship weightings, which are respectively based on the generated first appearance features and the generated first geometric features,
- wherein the second appearance features that corresponds to the object are determined based on an application of a relationship weighting to the extracted point cloud features of the object, with the relationship weighting being based on both a corresponding one of the appearance relationship weightings and a corresponding one of geometric relationship weightings;
- and
- control an operation of an augmented reality system based on the identified respective objects.
7 more elements
An electronic device, comprising:
- one or more processors configured to execute instructions;
- and
- a memory configured to store the instructions, which when executed by the one or more processors configure the one or more processors to:
- extract respective first point cloud features of respective objects in an image from first point cloud data corresponding to the image;
- generate first appearance features and first geometric features of respective objects in the image based on the respective first point cloud features;
- generate appearance relationship weightings and geometric relationship weightings between candidate regions corresponding to the respective objects in the image, based on the first appearance features and the first geometric features of the respective objects in the image;
- generate second appearance features and second geometric features of the respective objects in the image, based on the respective first point cloud features, the appearance relationship weightings, and the geometric relationship weightings;
- determine one object from the respective objects in the image based on the respective first point cloud feature for the multiple objects and the relationship weighting;
- and
- control an operation of an augmented reality system based on the determined at least one object,
- wherein the obtaining of the second appearance feature of the one object includes applying a relationship weight corresponding to the one object to the respective first point cloud features of the one object, where the relationship weight is based on the appearance relationship weighting corresponding to the one object and the geometric relationship weighting corresponding to the one object.
8 more elements
Dependencies are inferred from the claim text.