Object pose estimation
AssigneeNVIDIA Corporation
InventorsMarco Pavone, Heng Yang
Life of this patent
Estimating the term…
Abstract
Apparatuses, systems, and techniques to obtain prediction set(s) (e.g., region(s)) for keypoint prediction(s) based at least in part on data associated with an object, compute a set of candidate poses for the object based at least in part on the prediction set(s), and estimate an estimated object pose based at least in part on the set of candidate poses. The estimated object pose may be used to move a device. For example the estimated object pose may be used to provide collision-free motion generation for a real-world or virtual device (e.g., a robot, an autonomous machine, or a semi-autonomous machine). In at least one embodiment, at least a portion of the object pose estimation and/or at least a portion of the collision-free motion generation is performed in parallel.
Claims39
An autonomous machine to:
- receive an estimated object pose;
- and
- move based at least in part on the estimated object pose, wherein the estimated object pose is created by at least one computing system by:
- obtaining a plurality of regions comprising different boundaries for a plurality of keypoints predicted by at least one machine learning process based at least in part on an image depicting an object, individual ones of the plurality of regions to have at least a predetermined probability of including a ground truth keypoint corresponding to a different one of the plurality of keypoints,
- generating a set of values representing points within the plurality of regions, and
- generating the estimated object pose based at least in part on the set of values.
A method comprising:
- obtaining, using at least one computing system, a plurality of regions comprising different boundaries for a plurality of keypoints predicted using at least one neural network based at least in part on an image depicting an object, individual ones of the plurality of regions to have at least a predetermined probability of including a ground truth keypoint corresponding to a different one of the plurality of keypoints;
- generating, using the at least one computing system, a set of values representing points within the plurality of regions;
- estimating, using the at least one computing system, an estimated object pose based at least in part on the set of values;
- and
- causing at least one machine of an autonomous machine or a semi-autonomous machine to move based at least in part on the estimated object pose.
A system comprising:
- at least one processor;
- and
- memory storing processor instructions that when executed by the at least one processor cause the system to:
- obtain a plurality of regions comprising different boundaries for a plurality of keypoints predicted by at least one neural network based at least in part on an image depicting an object, individual ones of the plurality of regions to have at least a predetermined probability of including a ground truth keypoint corresponding to a different one of the plurality of keypoints;
- compute a set of values corresponding to points within the plurality of regions;
- estimate an estimated object pose based at least in part on the set of values;
- generate device instructions to cause a movable device to move based at least in part on the estimated object pose;
- and
- provide the device instructions to the movable device.
At least one processor comprising:
- one or more circuits to:
- obtain at least one prediction set using a plurality of regions comprising different boundaries obtained for a plurality of keypoints predicted using at least one machine learning model based at least in part on data associated with an object, individual ones of the plurality of regions to have at least a predetermined probability of including a ground truth keypoint corresponding to a different one of the plurality of keypoints,
- compute a set of values associated with points in the at least one prediction set,
- estimate an estimated object pose based at least in part on the set of values,
- generate instructions to cause a movable device to move based at least in part on the estimated object pose;
- and
- provide the instructions to the movable device.
Dependencies are inferred from the claim text.