Optimizing environment mapping with depth prediction
AssigneeField AI, Inc.
InventorsChanyoung CHUNG, Amirreza SHABAN
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Abstract
A method of and system for generating a three-dimensional map of an environment can include obtaining a first visual data set, generating a depth prior based on the first visual data set, refining a depth prediction model based on the depth prior, generating a layout based on a refined depth prediction model, and constructing a continuous three-dimensional map of the environment based on the layout and aggregated depth measurements. The visual data set can include visual imagery data and depth data. The depth prior can include geometric cues and semantic cues
Claims20
A method of generating a three-dimensional map of an environment, comprising:
- obtaining a first visual data set, wherein the first visual data set includes visual imagery data and depth data;
- generating a depth prior based on the first visual data set, wherein the depth prior includes geometric cues and semantic cues;
- refining a depth prediction model based on the depth prior;
- generating a layout based on a refined depth prediction model;
- and
- constructing a continuous three-dimensional map of the environment based on the layout and aggregated depth measurements.
A system comprising:
- a processor;
- and
- a memory in communication with the processor, the memory comprising executable instructions that, when executed by the processor, cause the system to perform functions of:
- obtaining a first visual data set, wherein the first visual data set includes visual imagery data and depth data;
- generating a depth prior based on the first visual data set, wherein the depth prior includes geometric cues and semantic cues;
- refining a depth prediction model based on the depth prior;
- generating a layout based on a refined depth prediction model;
- and
- constructing a continuous three-dimensional map of an environment based on the layout and aggregated depth measurements.
A non-transitory computer readable medium on which are stored instructions that when executed cause a programmable device to:
- obtain a first visual data set, wherein the visual data set includes visual imagery data and depth data;
- generate a depth prior based on the first visual data set, wherein the depth prior includes geometric cues and semantic cues;
- refine a depth prediction model based on the depth prior;
- generate a layout based on a refined depth prediction model;
- and
- construct a continuous three-dimensional map of an environment based on the layout and aggregated depth measurements.
Dependencies are inferred from the claim text.