Annotation cross-labeling for autonomous control systems
AssigneeDeepScale, Inc.
InventorAnting Shen
Life of this patent
Estimating the term…
Abstract
An annotation system uses annotations for a first set of sensor measurements from a first sensor to identify annotations for a second set of sensor measurements from a second sensor. The annotation system identifies reference annotations in the first set of sensor measurements that indicates a location of a characteristic object in the two-dimensional space. The annotation system determines a spatial region in the three-dimensional space of the second set of sensor measurements that corresponds to a portion of the scene represented in the annotation of the first set of sensor measurements. The annotation system determines annotations within the spatial region of the second set of sensor measurements that indicates a location of the characteristic object in the three-dimensional space.
Claims20
A method, comprising:
- obtaining, by a processor, a first set of sensor measurements representing a scene in a two-dimensional space with respect to a first viewpoint of a first sensor capturing the scene;
- obtaining, by the processor, a second set of sensor measurements representing the scene in a three-dimensional space captured by a second sensor;
- identifying, by the processor, a first annotation in the first set of sensor measurements that indicates a location of a characteristic object in the two-dimensional space;
- determining, by the processor, a spatial region in the three-dimensional space that corresponds to a portion of the scene represented in the first annotation, the spatial region determined using at least the first viewpoint of the first sensor and a location of the first annotation in the two-dimensional space;
- and
- annotating, by the processor, the second set of sensor measurements within the spatial region to generate a second annotation that indicates a location of the characteristic object in the three-dimensional space.
A non-transitory computer-readable storage medium storing computer program instructions executable by a processor to perform operations, the operations comprising:
- obtaining a first set of sensor measurements representing a scene in a two-dimensional space with respect to a first viewpoint of a first sensor capturing the scene;
- obtaining a second set of sensor measurements representing the scene in a three-dimensional space captured by a second sensor;
- identifying a first annotation in the first set of sensor measurements that indicates a location of a characteristic object in the two-dimensional space;
- determining a spatial region in the three-dimensional space that corresponds to a portion of the scene represented in the first annotation, the spatial region determined using at least the first viewpoint of the first sensor and a location of the first annotation in the two-dimensional space;
- and
- annotating the second set of sensor measurements within the spatial region to generate a second annotation that indicates a location of the characteristic object in the three-dimensional space.
A system, comprising:
- a computer processor for executing computer program instructions;
- and
- a non-transitory computer-readable storage medium storing computer program instructions executable by the processor to perform operations comprising:
- obtaining a first set of sensor measurements representing a scene in a two-dimensional space with respect to a first viewpoint of a first sensor capturing the scene;
- obtaining a second set of sensor measurements representing the scene in a three-dimensional space captured by a second sensor;
- identifying a first annotation in the first set of sensor measurements that indicates a location of a characteristic object in the two-dimensional space;
- determining a spatial region in the three-dimensional space that corresponds to a portion of the scene represented in the first annotation, the spatial region determined using at least the first viewpoint of the first sensor and a location of the first annotation in the two-dimensional space;
- and
- annotating the second set of sensor measurements within the spatial region to generate a second annotation that indicates a location of the characteristic object in the three-dimensional space.
Dependencies are inferred from the claim text.