Estimating features of occluded objects
First Claim
Patent Images
1. A system comprising:
- one or more processors;
one or more cameras to obtain a plurality of images of an environment, the environment including a first object and a second object;
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform acts comprising;
capturing a first image of the environment at a first time, wherein a first portion of the first object is occluded by at least a portion of the second object and a second portion of the first object is non-occluded;
generating first features of the first object based, at least in part, on the first image, wherein the first features include features of the second portion of the first object and features of the first portion of the first object are absent from the first features;
capturing a second image of the environment at a second time subsequent to the first time, wherein the second portion of the first object is occluded by the second object in the second image;
generating second features of the first object based, at least in part, on the second image, wherein the features of the second portion of the first object are absent from the second features; and
estimating the features of the second portion of the first object in the second image based, at least in part, on the features of the second portion of the first object included in the first features generated based on the first image.
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Abstract
A number of images of an environment may be obtained over time. In some images, a portion of an object included in the environment may be occluded by another object in the environment. In these images, features of the occluded portion of the object may be absent. The absent features may be estimated based on features generated from previous images including the object where the occluded portion of the object was not occluded in the previous images. In some cases, the absent features may be estimated based on data associated with a reference object that corresponds to the occluded object with the reference object being included in a catalog of reference objects.
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Citations
24 Claims
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1. A system comprising:
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one or more processors; one or more cameras to obtain a plurality of images of an environment, the environment including a first object and a second object; one or more non-transitory computer-readable media storing computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform acts comprising; capturing a first image of the environment at a first time, wherein a first portion of the first object is occluded by at least a portion of the second object and a second portion of the first object is non-occluded; generating first features of the first object based, at least in part, on the first image, wherein the first features include features of the second portion of the first object and features of the first portion of the first object are absent from the first features; capturing a second image of the environment at a second time subsequent to the first time, wherein the second portion of the first object is occluded by the second object in the second image; generating second features of the first object based, at least in part, on the second image, wherein the features of the second portion of the first object are absent from the second features; and estimating the features of the second portion of the first object in the second image based, at least in part, on the features of the second portion of the first object included in the first features generated based on the first image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method comprising:
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obtaining, by sensors of a computing device, data including a plurality of images of an environment; generating, by the computing device, first features of a first object and second features of a second object included in a particular image of the plurality of images; determining, by the computing device, that a particular portion of the first object is occluded by the second object; and estimating, by the computing device, the features of the particular portion of the first object based, at least in part, on at least one of information included in a catalog of reference objects or data from at least one image including the first object that is captured previous to the particular image in which the particular portion of the first object was non-occluded. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A method comprising:
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obtaining, by a camera of a computing device, a particular image of a workspace included in a portion of an environment; identifying, by the computing device, a first object in the workspace comprising a particular portion that is occluded by a second object in the workspace in the particular image; and estimating, by the computing device, missing features of the first object based, at least in part, on at least one of information corresponding to the first object included in a catalog of reference objects or data from at least one image that includes the first object that is captured previous to the particular image in which the particular portion of the first object was non-occluded. - View Dependent Claims (16, 17, 18, 19)
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20. One or more non-transitory computer-readable media storing computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform acts comprising:
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obtaining a plurality of images of an environment, wherein each of the plurality of images includes multiple objects; identifying a first object in an image of the plurality of images having portions of the first object being occluded by a second object; generating data corresponding to features of the first object; identifying, based on the data corresponding to the features, a reference object in a catalog of reference objects that corresponds to the first object; and estimating missing features of occluded portions of the first object based, at least in part, on respective features of the reference object corresponding to the missing features of the occluded portions of the first object. - View Dependent Claims (21, 22, 23, 24)
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Specification