IP Library › Granted Patent US 12,293,535
Granted Patent B2
US 12,293,535 · App. 17/393,338 · Granted May 6, 2025

Systems and methods for training pose estimators in computer vision

Inventors: Agastya Kalra (Nepean, CA); Rishav Agarwal (Waterloo, CA); Achuta Kadambi (Los Altos Hills, CA); Kartik Venkataraman (San Jose, CA); Anton Boykov (Waterloo, CA)
Assignee: Intrinsic Innovation LLC
G06T7/70H04N13/243H04N23/56H04N25/705G06T2200/08G06T2207/20081
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Quick Facts
Patent No.
US 12,293,535
App. No.
17/393,338
Granted
May 6, 2025
Kind
B2
Abstract

A data capture stage includes a frame at least partially surrounding a target object, a rotation device within the frame and configured to selectively rotate the target object, a plurality of cameras coupled to the frame and configured to capture images of the target object from different angles, a sensor coupled to the frame and configured to sense mapping data corresponding to the target object, and an augmentation data generator configured to control a rotation of the rotation device, to control operations of the plurality of cameras and the sensor, and to generate training data based on the images and the mapping data.

Claims (74)

1. A method of capturing training data in a data capture stage, the method comprising:

initiating capture of a first image of a target object by a first camera of the data capture stage;

initiating capture of a second image of the target object by a second camera of the data capture stage;

receiving a first pose of the target object corresponding to a first viewpoint of the first image;

projecting, using calibration data between the first camera and the second camera, the first pose into a coordinate system of the second camera to generate a second pose of the target object corresponding to a second viewpoint of the second image;

generating a second label associated with the second image, the second label comprising the second pose; and

generating the training data based on the second image and the second label.

2. The method of claim 1 , wherein the first viewpoint is different from the second viewpoint, and

wherein the first image is a red-green-blue (RGB) image and the second image is an RGB image or a polarization image.

3. The method of claim 1 , wherein the first and second poses comprise six-degree-of-freedom (6DoF) poses of the target object.

4. The method of claim 1 , wherein the second label further comprises at least one of a computer-aided design (CAD) model of the target object posed according to the second pose and key points corresponding to the CAD model.

5. The method of claim 1 , further comprising:

generating a first label associated with the first image, the first label comprising the first pose,

wherein the generating the training data is further based on the first image and the first label.

6. The method of claim 1 , further comprising:

initiating rotation of a rotation device of the data capture stage on which the target object is placed;

initiating capture of a third image of the target object, the third image corresponding to a viewpoint different from the first and second viewpoints;

projecting, using calibration data between the first camera and a third camera, the first pose into the coordinate system of the third camera to generate a third pose of the target object corresponding to a third viewpoint of the third image;

generating a third label associated with the third image, the third label comprising the third pose; and

generating the training data further based on the third image and the third label.

7. The method of claim 1 , further comprising:

initiating a first lighting condition via a plurality of light sources of the data capture stage, wherein initiating the capture of the first image is in response to the initiating the first lighting condition; and

initiating a second lighting condition via the plurality of light sources of the data capture stage, wherein initiating the capture of the second image is in response to the initiating the second lighting condition.

8. The method of claim 1 , further comprising:

initiating sensing of mapping data of the target object by a sensor of the data capture stage,

wherein the mapping data comprises one of a heat map corresponding to the target object, a depth map corresponding to the target object, and an ultraviolet map corresponding to the target object.

9. The method of claim 8 , further comprising:

projecting the first pose onto the mapping data to generate a third pose of the target object corresponding to a third viewpoint of the mapping data;

generating a third label associated with the mapping data, the third label comprising the third pose; and

generating the training data further based on the mapping data and the third label.

10. The method of claim 1 , further comprising:

providing the first and second images, a computer-aided design (CAD) model of the target object, and calibration information of the first and second cameras to a user device,

wherein receiving the first pose of the target object comprises receiving the first pose from the user device.

11. A system comprising:

one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers to cause the one or more computers to perform operations comprising:

initiating capture of a first image of a target object by a first camera of a data capture stage;

initiating capture of a second image of the target object by a second camera of the data capture stage;

receiving a first pose of the target object corresponding to a first viewpoint of the first image;

projecting, using calibration data between the first camera and the second camera, the first pose into a coordinate system of the second camera to generate a second pose of the target object corresponding to a second viewpoint of the second image;

generating a second label associated with the second image, the second label comprising the second pose; and

generating training data based on the second image and the second label.

12. The system of claim 11 , wherein the first viewpoint is different from the second viewpoint, and

wherein the first image is a red-green-blue (RGB) image and the second image is an RGB image or a polarization image.

13. The system of claim 11 , wherein the first and second poses comprise six-degree-of-freedom (6DoF) poses of the target object.

14. The system of claim 11 , wherein the second label further comprises at least one of a computer-aided design (CAD) model of the target object posed according to the second pose and key points corresponding to the CAD model.

15. The system of claim 11 , wherein the operations further comprise:

generating a first label associated with the first image, the first label comprising the first pose,

wherein the generating the training data is further based on the first image and the first label.

16. The system of claim 11 , wherein the operations further comprise:

initiating rotation of a rotation device of the data capture stage on which the target object is placed;

initiating capture of a third image of the target object, the third image corresponding to a viewpoint different from the first and second viewpoints;

projecting the first pose onto the third image to generate a third pose of the target object corresponding to a third viewpoint of the third image;

generating a third label associated with the third image, the third label comprising the third pose; and

generating the training data further based on the third image and the third label.

17. The system of claim 11 , wherein the operations further comprise:

initiating a first lighting condition via a plurality of light sources of the data capture stage, wherein initiating the capture of the first image is in response to the initiating the first lighting condition; and

initiating a second lighting condition via the plurality of light sources of the data capture stage, wherein initiating the capture of the second image is in response to the initiating the second lighting condition.

18. The system of claim 11 , wherein the operations further comprise:

initiating sensing of mapping data of the target object by a sensor of the data capture stage,

wherein the mapping data comprises one of a heat map corresponding to the target object, a depth map corresponding to the target object, and an ultraviolet map corresponding to the target object.

19. The system of claim 18 , wherein the operations further comprise:

projecting the first pose onto the mapping data to generate a third pose of the target object corresponding to a third viewpoint of the mapping data;

generating a third label associated with the mapping data, the third label comprising the third pose; and

generating the training data further based on the mapping data and the third label.

20. The system of claim 11 , wherein the operations further comprise:

providing the first and second images, a computer-aided design (CAD) model of the target object, and calibration information of the first and second cameras to a user device,

wherein receiving the first pose of the target object comprises receiving the first pose from the user device.

21. One or more non-transitory computer storage media encoded with computer program instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:

initiating capture of a first image of a target object by a first camera of the data capture stage;

initiating capture of a second image of the target object by a second camera of the data capture stage;

receiving a first pose of the target object corresponding to a first viewpoint of the first image;

projecting, using calibration data between the first camera and the second camera, the first pose into a coordinate system of the second camera to generate a second pose of the target object corresponding to a second viewpoint of the second image;

generating a second label associated with the second image, the second label comprising the second pose; and

generating the training data based on the second image and the second label.

Assignments (3)
CORRECTIVE ASSIGNMENT TO CORRECT THE THE RECEIVING PARTY NAME PREVIOUSLY RECORDED AT REEL: 060389 FRAME: 0682. ASSIGNOR(S) HEREBY CONFIRMS THE ASSIGNMENT. Recorded Jul 7, 2022
From: VICARIOUS FPC, INC.; BOSTON POLARIMETRICS, INC.
To: INTRINSIC INNOVATION LLC
Reel/Frame 060614/0104 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Jun 15, 2022
From: VICARIOUS FPC, INC; BOSTON POLARIMETRICS, INC.
To: LLC, INTRINSIC I
Reel/Frame 060389/0682 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Aug 3, 2021
From: KALRA, AGASTYA; AGARWAL, RISHAV; KADAMBI, ACHUTA; VENKATARAMAN, KARTIK; BOYKOV, ANTON
To: BOSTON POLARIMETRICS, INC.
Reel/Frame 057072/0139 →
Continuity (1)
Related Publication 20230041560A1 · Feb 9, 2023
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