ROBOT WITH VISION-BASED 3D SHAPE RECOGNITION
First Claim
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1. A method for processing video signals from a video sensor, in order to extract 3d shape information and/or information on at least one physical property about objects represented in the video signals, the method comprising the following steps:
- providing a memory in which objects are stored in a 3d shape space, the shape space being an abstract feature space encoding the objects'"'"' 3d shape properties, andmapping a 2d video signal representation of an object in the shape space, the coordinates of the object in the shape space indicating the 3d shape and/or a physical property of the object.
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Abstract
The invention relates to a method for processing video signals from a video sensor, in order to extract 3d shape information about objects represented in the video signals, the method comprising the following steps:
- providing a memory in which objects are stored in a 3d shape space, the shape space being an abstract feature space encoding the objects'"'"' 3d shape properties, and
- mapping a 2d video signal representation of an object in the shape space, the coordinates of the object in the shape space indicating the object'"'"'s 3d shape.
62 Citations
10 Claims
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1. A method for processing video signals from a video sensor, in order to extract 3d shape information and/or information on at least one physical property about objects represented in the video signals, the method comprising the following steps:
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providing a memory in which objects are stored in a 3d shape space, the shape space being an abstract feature space encoding the objects'"'"' 3d shape properties, and mapping a 2d video signal representation of an object in the shape space, the coordinates of the object in the shape space indicating the 3d shape and/or a physical property of the object. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An unsupervised learning method for setting up a computing system able to extract information on the 3d shape and/or at least one physical property of objects on the basis of video signals representing said objects, the method comprising the following steps:
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presenting in the input field of a 2d video camera training objects respectively in different positions or the trajectory of an object upon a defined motion-inducing stimulus, extracting slowly varying features of different rotational views of the training objects and clustering the extracted features in order to parameterize a shape space representation of the training objects, the shape space being an abstract feature space encoding the objects'"'"' 3d shape properties. - View Dependent Claims (8)
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9. A method for processing video signals from a video sensor comprising the steps of:
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providing a shape feature space in a memory structure, presenting to the video sensor training objects in different positions or a trajectory of an object for setting up the shape feature space, extracting at least one feature form each training object, calculating feature clusters from the extracted features in the shape feature space, so that different views of the same object produce similar features belonging to one cluster, while similar views of distinct objects are separated, identifying the feature cluster centers, obtaining a view of an object from a video signal, mapping the view of the object to the shape feature space, the coordinates of the object in the shape feature space indicating the object'"'"'s shape, and characterizing the object'"'"'s shape as a shape similarity represented by distances to the feature cluster centers. - View Dependent Claims (10)
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Specification