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US 2021/0233307 A1Published application
Landmark location reconstruction in autonomous machine applications
AssigneeNVIDIA Corporation
InventorsPhilippe Bouttefroy, David Nister, Ibrahim Eden
Life of this patent
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Abstract
In various examples, locations of directional landmarks, such as vertical landmarks, may be identified using 3D reconstruction. A set of observations of directional landmarks (e.g., images captured from a moving vehicle) may be reduced to 1D lookups by rectifying the observations to align directional landmarks along a particular direction of the observations. Object detection may be applied, and corresponding 1D lookups may be generated to represent the presence of a detected vertical landmark in an image.
Claims20
A processor comprising one or more circuits to:
- generate, based at least on a two-dimensional (2D) observation representing one or more directional landmarks in a 3D space, a probability distribution by computing a probability that one of the one or more directional landmarks is located at each point of one or more points sampled from two spatial dimensions of the 3D space;
- identify one or more modes in the probability distribution based at least on seeding at one or more designated intervals in the two spatial dimensions;
- and
- identify at least one location of the one or more directional landmarks based at least in part on the identified one or more modes.
1 more element
A method comprising:
- identifying, based at least in part on image data representing at least one directional landmark in a 3D space, a probability of the at least one directional landmark being located at each point of one or more points sampled from two spatial dimensions of the 3D space;
- generating a probability distribution using the probability for each of the one or more points;
- identifying one or more modes in the probability distribution based at least on seeding at one or more designated intervals in the two spatial dimensions;
- and
- identifying at least one location of the at least one directional landmark in the two spatial dimensions based at least in part on the identified one or more modes.
2 more elements
A system comprising:
- one or more processing units;
- and
- one or more memory units storing instructions that, when executed by the one or more processing units, cause the one or more processing units to execute operations comprising:
- generating, based at least on a two-dimensional (2D) observation representing one or more directional landmarks in a 3D space, a probability distribution by computing a probability that one of the one or more directional landmarks is located at each point of one or more points sampled from two spatial dimensions of the 3D space;
- identifying one or more modes in the probability distribution based at least on seeding at one or more designated intervals in the two spatial dimensions;
- and
- identifying at least one location of the one or more directional landmarks in the two spatial dimensions based at least in part on the identified one or more modes.
4 more elements
Dependencies are inferred from the claim text.