Object finder for two-dimensional images, and system for determining a set of sub-classifiers composing an object finder
First Claim
1. A system for determining a set of sub-classifiers for a detector of an object detection program, comprising:
- a candidate coefficient-subset creation module;
a training module in communication with the candidate coefficient-subset creation module; and
a sub-classifier selection module in communication with the training module.
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Accused Products
Abstract
Systems and methods for determining a set of sub-classifiers for a detector of an object detection program are presented. According to one embodiment, the system may include a candidate coefficient-subset creation module, a training module in communication with the candidate coefficient-subset creation module, and a sub-classifier selection module in communication with the training module. The candidate coefficient-subset creation module may create a plurality of candidate subsets of coefficients. The coefficients are the result of a transform operation performed on a two-dimensional (2D) digitized image, and represent corresponding visual information from the 2D image that is localized in space, frequency, and orientation. The training module may train a sub-classifier for each of the plurality of candidate subsets of coefficients. The sub-classifier selection module may select certain of the plurality of sub-classifiers. The selected sub-classifiers may comprise the components of the detector. Also presented are systems and methods for detecting instances of an object in a 2D (two-dimensional) image.
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Citations
56 Claims
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1. A system for determining a set of sub-classifiers for a detector of an object detection program, comprising:
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a candidate coefficient-subset creation module;
a training module in communication with the candidate coefficient-subset creation module; and
a sub-classifier selection module in communication with the training module. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for determining a set of sub-classifiers for a detector of an object detection program, comprising:
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means for creating a plurality of candidate subsets of coefficients;
means for training a sub-classifier for each of the plurality of candidate subsets of coefficients; and
means for selecting certain of the plurality of sub-classifiers. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A computer readable medium having stored thereon instructions, which, when executed by a processor, cause the processor to:
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create a plurality of candidate subsets of coefficients;
train a sub-classifier for a detector of an object detection program for each of the plurality of candidate subsets of coefficients; and
select certain of the plurality of sub-classifiers. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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26. A method for determining a set of sub-classifiers for a detector of an object detection program, comprising:
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creating a plurality of candidate subsets of coefficients;
training a sub-classifier for each of the plurality of candidate subsets of coefficients; and
selecting certain of the plurality of sub-classifiers. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34)
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35. A method for detecting instances of an object in a 2D (two-dimensional) image, the method comprising:
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for each of a plurality of view-based classifiers, computing a transform of a digitized version of the 2D image containing a representation of an object, wherein the transform includes a representation of the spatial frequency content of the image as a function of position in the image, and wherein the transform generates a plurality of transform coefficients, and wherein each transform coefficient represents corresponding visual information from the 2D image that is localized in space, frequency, and orientation;
applying the plurality of view-based classifiers to the plurality of transform coefficients, wherein each view-based classifier is configured to detect a specific orientation of the object in the 2D image based on visual information received from corresponding transform coefficients, and wherein each of the plurality of view-based classifiers includes a plurality of cascaded sub-classifiers;
combining results of the application of the plurality view-based classifiers; and
determining a pose of an instance of the object from the combination of results of the application of the plurality view-based classifiers. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42, 43, 44, 45)
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46. A computer-readable storage medium having stored thereon instructions, which, when executed by a processor, cause the processor to perform the following:
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for each of a plurality of view-based classifiers, compute a transform of a digitized version of a 2D image containing a representation of an object, wherein the transform includes a representation of the spatial frequency content of the image as a function of position in the image, and wherein the transform generates a plurality of transform coefficients, and wherein each transform coefficient represents corresponding visual information from the 2D image that is localized in space, frequency, and orientation;
apply a plurality of view-based classifiers to the plurality of transform coefficients wherein each view-based classifier is configured to detect a specific orientation of the object in the 2D image based on visual information received from corresponding transform coefficients, and wherein each of the plurality of view-based classifiers include a plurality of cascaded sub-classifiers; and
combine results of the application of the plurality of view-based classifiers; and
determine a pose of an instance of the object from the combination of results of the application of the plurality view-based classifiers. - View Dependent Claims (47, 48, 49, 50)
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51. A computer system, which, upon being programmed, is configured to perform the following:
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for each of a plurality of view-based classifiers, compute a transform of a digitized version of a 2D image containing a representation of an object, wherein the transform includes a representation of the spatial frequency content of the image as a function of position in the image, and wherein the transform generates a plurality of transform coefficients, and wherein each transform coefficient represents corresponding visual information from the 2D image that is localized in space, frequency, and orientation;
apply the plurality view-based classifiers to the plurality of transform coefficients, wherein each view-based classifier is configured to detect a specific orientation of the object in the 2D image based on visual information received from corresponding transform coefficients, and wherein each of the series of detector stages includes a plurality of cascaded sub-classifiers combine results of the application of the plurality view-based classifiers; and
determine a pose of the object from the combination of results of application of the plurality of view-based classifiers. - View Dependent Claims (52, 53, 54)
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55. A method of generating a sub-classifier for a detector of an object detection program, comprising:
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transforming pixel values to wavelet coefficients;
linearly projecting the wavelet coefficients to create projection coefficients;
quantizing the projection coefficients; and
generating a table of log-likelihood values based on the quantizing. - View Dependent Claims (56)
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Specification