Systems and methods for identifying unknown instances

Systems and methods of the present disclosure provide an improved approach for open-set instance segmentation by identifying both known and unknown instances in an environment. For example, a method can include receiving sensor point cloud input data including a plurality of three-dimensional points...

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Bibliographic Details
Main Authors Wang, Shenlong, Urtasun, Raquel, Liang, Ming, Ren, Mengye, Wong, Kelvin Ka Wing
Format Patent
LanguageEnglish
Published 18.10.2022
Subjects
CALCULATING
COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
COMPUTING
COUNTING
HANDLING RECORD CARRIERS
PHYSICS
PRESENTATION OF DATA
RECOGNITION OF DATA
RECORD CARRIERS
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Summary:Systems and methods of the present disclosure provide an improved approach for open-set instance segmentation by identifying both known and unknown instances in an environment. For example, a method can include receiving sensor point cloud input data including a plurality of three-dimensional points. The method can include determining a feature embedding and at least one of an instance embedding, class embedding, and/or background embedding for each of the plurality of three-dimensional points. The method can include determining a first subset of points associated with one or more known instances within the environment based on the class embedding and the background embedding associated with each point in the plurality of points. The method can include determining a second subset of points associated with one or more unknown instances within the environment based on the first subset of points. The method can include segmenting the input data into known and unknown instances.
Bibliography:Application Number: US202016825266